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BLDC multi-motor speed synchronization by leader following multi-agent and hybrid control

International Journal of Hybrid Information Technology 2016年第12期9卷 231-242页

作者： Masroor, Suhaib Peng, Chen Aamir, Muhammad Ali, Zain Anwar School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Electronics Engineering Sir Syed University of Engineering and Technology Karachi Pakistan College of Automation Engineering Nanjing University of Aeronautics and Astronauts Nanjing China

In this article, a unique and innovative design for addressing the speed synchronization problem in a multi-motor system using Brush less DC (BLDC), motors is presented by utilizing motor back emf equation and rotor position commonly called sensor less technique. In the proposed method, the system is modelled as a consensus problem of leader following multi-agent system (MAS), and a hybrid controller is designed by using model reference adaptive control (MRAC) along with Variable Structure (VS) control technique of Sliding Mode control (SMC), herein called Variable Structure model reference adaptive control (VS-MRAC). The consensus algorithm of MAS (reformed w.r.t motor speed data), is fused with the hybrid controller to reach consensus on speed regulated by proposed hybrid controller. The stability of a system is endorse by designing a Lyapunov function. The efficiency of the proposed methodology is proven by simulations performed in MATLAB and the acquired results validate the success of proposed design methodology. © 2016 SERSC.

关键词： model reference adaptive control

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Novel control law for predictor-based MRAC for overactuated systems

Novel control law for predictor-based MRAC for overactuated ...

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International Conference on control, Automation, Robotics and Vision

作者： Guillermo P. Falconi Christian D. Heise Florian Holzapfel Institute of Flight System Dynamics (FSD) Technische Universitat Munchen (TUM) 85748 Garching b. Munchen Germany

ISBN: (纸本)9781509035502

In this paper, novel control and update laws for predictor-based model reference adaptive control for the case of over-actuated systems are presented. A weaker assumption than positive definiteness of the control effectiveness matrix is formulated. This allows to take actuator failures and even changes in the control direction into account. Furthermore, it is shown that the number of adaptive parameters can be reduced avoiding over-parameterization. The control law is applied to a hexarotor example and simulation results demonstrate the control law's capabilities.

关键词： control law model reference adaptive control control effect Actuating systems Simulation results adaptive control

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adaptive augmenting control design for a generic longitudinal missile autopilot

Adaptive augmenting control design for a generic longitudina...

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American control Conference

作者： Hessam Mahdianfar Emmanuel Prempain Control & Instrumentation Group Department of Engineering University of Leicester LE1 7RH UK

ISBN: (纸本)9781467386838

Designing missile autopilots is a challenging problem due to highly nonlinear uncertain aerodynamics, and stringent performance requirements. In this paper a robust adaptive augmenting controller is designed for a generic non-minimum phase pitch-axis missile autopilot. The control system consists of a robust L2 gain optimal controller as a baseline and an incremental robust direct model reference adaptive control (MRAC). The baseline controller is designed using robust convex programming covering multiple operating regions. The main objective of designing a retrofit adaptive controller is to provide strong robust performance in presence of uncertainties such as parametric uncertainties, reduced control effectiveness, etc. Simulation tests are performed to assess stability and performance of nonlinear closed-loop adaptive system in presence of uncertainties in pitching moment and normal force coefficients, unmodeled time-delays, and variations in Mach number. In addition, results in simulations indicate satisfactory robustness in case of severe loss of control effectiveness event and uncertainty in pitch aerodynamic model.

关键词： model reference adaptive control Missile autopilot design adaptive augmenting control Retrofit adaptive control design Fault-tolerant flight control

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An Interactive Computer-Aided Instructional Strategy and Assessment Methods for System Identification and adaptive control Laboratory

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IEEE TRANSACTIONS ON EDUCATION 2015年第4期58卷 297-302页

作者： Ozbek, Necdet Sinan Eker, Ilyas Adana Sci & Technol Univ Dept Elect & Elect Engn TR-01180 Adana Turkey Cukurova Univ Dept Elect & Elect Engn TR-01130 Adana Turkey

This study describes a set of real-time interactive experiments that address system identification and model reference adaptive control (MRAC) techniques. In constructing laboratory experiments that contribute to efficient teaching, experimental design and instructional strategy are crucial, but a process for doing this has yet to be defined. This paper is an attempt towards filling this gap. Its contributions are: 1) to describe a sample set of experiments for both senior undergraduate-and graduate-level students, to strengthen their understanding of system identification and control;2) to help instructors wishing to set up a laboratory with an interactive learning strategy;and 3) to propose a set of assessment criteria for engineering accreditation in system identification and control laboratories. A benefit of this paper for engineering educators is that it provides a roadmap for transferring complex theory problems into prototypes in the laboratory. Furthermore, the instructional strategies proposed can easily be adapted to other engineering courses.

关键词： control engineering education identification interactive graphical user interface (GUI) model reference adaptive control

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Speed control of DC-DC converter fed DC motor using robust adaptive intelligent controller

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JOURNAL OF VIBRATION AND control 2015年第15期21卷 3107-3120页

作者： Prakash, Raghupathy Vasanthi, R. Vivekanandha Coll Engn Women Dept Elect & Elect Engn Tiruchengode 637205 Tamil Nadu India Idhaya Engn Coll Women Dept Comp Sci & Engn Chinnasalem Tamil Nadu India

DC motors have been extensively used in many industrial applications. The control of the speed of a DC motor is therefore an important issue and has been studied since the early decades of the last century. This paper presents a novel neural network (NN)-based model reference adaptive control (MRAC) to improve the trajectory tracking performance of a DC motor. In this scheme, the controller is designed using a parallel combination of the conventional MRAC scheme and an NN controller. The controller is used to change the duty cycle of the converter and, thereby, the voltage fed to the armature of the separately excited motor to regulate the speed. The operating characteristics of the proposed drive system are compared with MRAC control to verify the effectiveness under various conditions by investigating the transient responses for the step change of the speed command and the load torque. Finally, simulated and experimental results show that on the one hand the proposed controller provides high-performance dynamic characteristics, and on the other hand that this scheme is robust with respect to load disturbances.

关键词： DC-DC converter DC motor model reference adaptive control neural network

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Quadcopter flight test results of a consistency monitoring algorithm for adaptive controllers 14th

Quadcopter flight test results of a consistency monitoring a...

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International Conference on control, Automation, Robotics and Vision

作者： Maximilian Muhlegg Thomas Raffler Florian Holzapfel Institute of Flight System Dynamics Technical University of Munich 85748 Garching bei Munchen Germany

ISBN: (纸本)9781509035502

model reference adaptive control facilitates nonlinear systems to adapt to modeling errors, environmental changes or structural damage. Most adaptive control frameworks employ Lyapunov analysis in order to establish stability of the closed loop system. However, the derived signal bounds are inherently conservative. Furthermore, these bounds are seldom known;the plant states might still violate structural requirements, thus causing the system to fail. In order to counter this disadvantage, we employ an adaptive output consistency monitor, which is based on Bayesian linear regression. It learns a model of the adaptive controller from online gathered data and thus allows for the assertion whether the adaptive output is within an interval of the expected output. The method is demonstrated in flight tests of a quadcopter with and without robustness modification.

关键词： adaptive controller adaptive control Nonlinear systems FLIGHT TESTS model reference adaptive control Bound

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Temperature control Using Hybrid control with MRAC and ECS into a MIMO Microwave Heating Process

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JOURNAL OF MICROWAVE POWER AND ELECTROMAGNETIC ENERGY 2015年第1期49卷 46-54页

作者： Yuan, Yupeng Liang, Shan Xiong, Qingyu Zhong, Jiaqi Zhang, Yuzhe Li, Jiannan Chongqing Univ Coll Automat Chongqing 630044 Peoples R China Chongqing Univ Coll Software Engn Chongqing 630044 Peoples R China Chongqing Univ Minist Educ Key Lab Dependable Serv Comp Cyber Phys Soc Chongqing 630044 Peoples R China

Microwave heating is an advanced heating technique in which heat is generated inside the material, but thermal runaway phenomenon is still the major challenge of the microwave heating process. The application of a hybrid temperature control structure with model reference adaptive control (MRAC) and expert control system (ECS) to a multi-input multi-output (MIMO) microwave heating process is addressed in this paper. Two input variables, microwave power and ambient temperature, are considered to be regulated and controlled as the output variables to track the desired temperature profiles. Simulation tests are carried out in MIMO configuration to validate that the hybrid controller with MRAC and ECS achieves better control performance than the sole MRAC strategy.

关键词： Microwave heating temperature control hybrid control model reference adaptive control expert control system

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Improved performance for adaptive control of systems with input saturation

Improved performance for adaptive control of systems with in...

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American control Conference

作者： Manus Thiel Dieter Schwarzmann Anuradha M. Annaswamy Matthias Schultalbers Torsten Jeinsch Control Engineering Excellence Cluster of iav GmbH 38518 Gifhorn Germany Department of Mechanical Engineering Massaschusetts Institute of Technology Cambridge 02139 USA Gasoline Engines Division at iav GmbH 38518 Gifhorn Germany Institute of Automation of the University of Rostock 18119 Germany

ISBN: (纸本)9781467386838

A state-feedback adaptive control scheme for systems with input saturation is proposed. This scheme combines model reference adaptive control and model Recovery Anti-Windup, using an adaptive reference model. The underlying adaptive system is shown to be globally bounded for plants that are open-loop stable, and to have bounded trajectories for a set of initial conditions for plants that are open-loop unstable. It is shown that the new method, called adaptive model Recovery Anti-Windup, provides an additional degree of freedom allowing to improve closed-loop performance while the input is saturated.

关键词： Adaptation models adaptive control Closed loop systems Stability analysis Lyapunov methods Windup adaptive control Windup Closed loop systems Lyapunov methods Stability analysis adaptive control systems Adaptation models closed-loop performance control systems model reference adaptive control

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MRAC of systems subject to actuator nonlinearities and unknown time-varying state delays: tube reference approach

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IFAC-PapersOnLine 2015年第11 11期48卷 1062-1067页

作者： Mirkin, Boris Gutman, Per-Olof Shtessel, Yuri Technion-Israel Institute of Technology Haifa32000 Israel University of Alabama in Huntsville 301 Sparkman Drive HuntsvilleAlabama35899 United States

In this contribution, a tube based model reference adaptive architecture is developed for a class of nonlinear dynamic systems with unknown time-varying state delay and nonlinear actuator which not only guarantees closed loop stability, asymptotically tracking and robustness to a nonlinear perturbation, and to an external disturbance with unknown bounds, but also diminishes the control cost with respect to some criterion. © 2015

关键词： model reference adaptive control Actuators Closed loop control systems Delay control systems Dynamical systems Nonlinear dynamical systems Actuator nonlinearities adaptive control Asymptotically tracking model reference adaptive non smooth nonlinearly reference modeling Time varying state delay Time delay systems

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Satellite formation flying using variable structure model reference adaptive control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2009年第G3期223卷 271-283页

作者： Shahid, K. Kumar, K. D. Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

In this paper a variable structure model reference adaptive control technique for spacecraft formation flying is proposed. The system consisting of a leader and a follower satellite is considered. The stability of the proposed controller is established using a Lyapunov function. Also, the robustness of the control law to non-linearities and external disturbances is presented. A reference model suitable for formation reconfiguration is then established. The performance of the proposed controller is tested through numerical simulation of the governing non-linear equations of motion and is applied for both formation keeping and formation reconfiguration. The effect of the control parameters on tracking performance and fuel consumption is examined. The effects of initial state errors, leader satellite eccentricity, constant perturbation, and differential J(2) are also considered. The numerical results demonstrate the effectiveness of the proposed control technique for satellite formation flying. In the case of the formation reconfiguration, the proposed controller outperforms the adaptive sliding mode control.

关键词： formation flying model reference adaptive control sliding mode control variable structure control formation reconfiguration

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