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Direct model reference adaptive control using K_p = LDU factorization for multivariable discrete-time plants

控制理论与应用（英文版） 2008年第4期6卷 392-398页

作者： Junling LI Xuejun XIE Wei CHEN Institute of Automation Qufu Normal University Qufu Shandong 273165 China

For a large class of discrete-time multivariable plants with arbitrary relative degrees, the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumptions. The algorithm is based on a new parametrization derived from the high frequency gain matrix factorization Kp=LDU under the condition that the signs of the leading principal minors of/fp are known. By reproving the discrete-time Lp and L2σ norm relationship between inputs and outputs, establishing the properties of discrete-time adaptive law, defining the normalizing signal, and relating the signal with all signals in the closed-loop system, the stability and convergence of the discrete-time multivariable model reference adaptive control scheme are analyzed rigorously in a systematic fashion as in the continuous-time case.

关键词： Discrete-time systems Swapping lemma L2σ-nonn Normalizing signal model reference adaptive control

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An Observer-based model reference adaptive Iterative Learning controller for Nonlinear Systems Without State Measurement

An Observer-based Model Reference Adaptive Iterative Learnin...

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International Conference on Fuzzy Theory and Its Applications (iFUZZY)

作者： Wang, Ying-Chung Chien, Chiang-Ju Huafan Univ Dept Elect Engn New Taipei City Taiwan

ISBN: (纸本)9781479903863

In this paper, an observer-based model reference adaptive iterative learning control strategy using a filtered fuzzy neural network is proposed for more general class of uncertain nonlinear systems. Since the system states are not measurable, a state tracking error observer is introduced for state estimation. Based on the state tracking error observer, a model reference adaptive control technique using a mixed time-domain and s-domain technique is presented to derive an output observation error model. In this error model, the unknown system nonlinearities become a kind of uncertain sources to a known, stable and relative degree one linear system. It is further transformed into a new formulation by an averaging filter and some auxiliary signals so that the iterative learning controller can be implemented without using differentiators. The main learning component which performs as an system approximator is constructed by a filtered fuzzy neural network using the estimated state variables as the network input. To overcome the lumped uncertainties from function approximation error and state estimation error, a normalization signal is applied as a bounding function to design a robust learning component. Besides, a stabilization learning component is used to guarantee the boundedness of internal signals. Since the optimal parameters for a good function approximation are in general unavailable, adaptive algorithms are derived to search for suitable parameters during each iteration. We show that all the adjustable parameters as well as internal signals remain bounded for all iterations. The norm of output tracking error will asymptotically converge to a tunable residual set whose size depends on some design parameters of averaging filter. A practical ball and beam system is given to verify the nice tracking performance of the proposed learning scheme.

关键词： Iterative Learning control Observer model reference adaptive control Fuzzy Neural Network Nonlinear Systems

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Combined Direct-Indirect adaptive Speed control Strategy for Wind Induction Generator

Combined Direct-Indirect Adaptive Speed Control Strategy for...

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45th Southeastern Symposium on System Theory

作者： Al-Olimat, Khalid S. Ohio No Univ Dept Elect & Comp Engn & Comp Sci Ada OH 45810 USA

ISBN: (纸本)9781479900381;9781479900374

A combined direct and indirect model reference adaptive controller for variable speed wind induction generator is presented. The main concept of the proposed philosophy is to ensure automatic change of the controller parameters so that they correspond to the current generator's environment and provide an appropriate control action to improve the overall control system performance. The effectiveness of the proposed technique is demonstrated through computer simulation. The obtained results confirm the capability of such control scheme.

关键词： model reference adaptive control wind induction generator

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Stability and Optimization of the Golden-Section adaptive control

Stability and Optimization of the Golden-Section Adaptive Co...

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Chinese Automation Congress (CAC)

作者： Huang, Huang Hu, Yong Beijing Inst Control Engn Beijing 100190 Peoples R China

ISBN: (纸本)9781479903337

The stability of the characteristic model-based golden-section adaptive control is discussed and the relationship between the controller parameters l(1), l(2) and the closed-loop dynamic performance is analyzed. It is shown that l(1), l(2) are closely related to the parameters bounds in the characteristic model. For the typical case of a second order linear system with a pair of stable eigenvalues, it is proved that l(2) approximate to 0.618 corresponds to the smallest spectral radius in the worst case. By describing the slowly time-varying property in an explicit inequality form, a bridge is built between the instantaneous stability and the time-varying stability. A numerical example is given to show the advantage of the golden-section adaptive controller over that of the classical model reference adaptive control law.

关键词： adaptive control model reference adaptive control adaptive controller dynamic characteristics Linear system control law time varying BRIDGES bridges spectral radius

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Robust μ-Modification Output Feedback adaptive control for Systems with Input Saturation 3

Robust μ-Modification Output Feedback Adaptive Control for ...

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3rd International Conference on control, Instrumentation, and Automation (ICCIA)

作者： Lame, Babak Ebrahimi Khaloozadeh, Hamid Sedigh, Ali Khaki KNT Univ Technol Syst & Control Dept Tehran Iran

ISBN: (纸本)9781479931170

In this paper, for a class of linear systems with unknown parameters, a direct model reference adaptive control scheme in output feedback form has been presented, which assures stable adaptation in the presence of input saturation. Also, under certain assumptions one can guarantee that the adaptive control signal will avoid input saturation. In addition, by considering that the error model is in a parametric model form, robust adaptive control is used to improve robustness of systems in the presence of bounded disturbances. This is achieved by using the sigma-modification method. Simulation of an output feedback system with relative degree 2 verifies the results given in the paper.

关键词： model reference adaptive control Input Saturation Output Feedback Robust adaptive control

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Design and Verification of Novel adaptive controller in Speed Servo Drive

Design and Verification of Novel Adaptive Controller in Spee...

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International Conference on Process control (PC)

作者： Belai, Igor Zalman, Milan Slovak Univ Technol Bratislava Fac Elect Engn & Informat Technol Inst Control & Ind Informat Bratislava Slovakia

ISBN: (纸本)9781479909261;9781479909278

When designing the control algorithm in motion systems, it is not always possible to apply the theory of linear control systems directly. The reason may be a non-linearity of a load, variation of drive parameters, or their lack of knowledge. In this case the solution is the use of adaptive systems. The paper describes an algorithm that combines the IP control scheme and the model reference adaptive control (MRAC) to adjust the controller parameters and to identify the motor parameters in real time. The proposed solution does not require initial setting of controller parameters. Features of the proposed algorithm are verified by simulations and the results are presented in the paper. Designed MRAC IP controller is suitable for practical implementation in DC and AC drives.

关键词： adaptive control model reference adaptive control IP controller speed servo drive

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Improving the Efficiency of Power Supplies with an adaptive control Method

Improving the Efficiency of Power Supplies with an Adaptive ...

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10th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON)

作者： Mahdavian, M. Poudeh, M. Bayati Wattanapongsakorn, N. King Mongkuts Univ Technol Thonburi Dept Comp Engn Bangkok 10140 Thailand

ISBN: (纸本)9781479905461;9781479905454

Normally power supplies provide a constant output voltage. A DC-DC converter in most of the applications is controlled by a voltage mode or a current mode controller. The DC converters are employed to feed electric vehicles, telephone sets and civil invertors, or for induction motors and frequency control. In this regard, optimal exploitation of DC transformed by classical controllers has been a controversial issue in reputable journal publications. Due to their switching property included in their structure, DC-DC converters have a non-linear behavior and their controlling design is accompanied with complexities. However, by employing the average method, it is possible to simplify the system as a linear system and exploiting linear control methods. In this article, an attempt is made to control the buck converter by PI and PID controllers. By using PID controller and genetic algorithm, a new adaptive control method model is introduced. A Genetic algorithm is applied to discover the supreme values for PID controller's parameters within a short time period. The improvement of the current control response is the result of the simulation.

关键词： buck converter genetic algorithm PID controller model reference adaptive control

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adaptive Speed control for Autonomous Surface Vessels

Adaptive Speed Control for Autonomous Surface Vessels

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MTS/IEEE Oceans Conference

作者： Kragelund, Sean Dobrokhodov, Vladimir Monarrez, Aurelio Hurban, Michael Khol, Curtis Naval Postgrad Sch Dept Mech & Aerosp Engn Monterey CA 93943 USA US Navy Chula Vista CA 91915 USA US Naval Acad Annapolis MD 21402 USA

ISBN: (纸本)9780933957404

The paper addresses the problem of speed control for the SeaFox unmanned surface vessel (USV). This small, versatile robotic platform can operate over a wide range of speeds, making it attractive for a number of scientific, commercial, and naval applications. This versatility, however, comes at a price. The vessel operates in displacement mode at low speeds and operates in planing mode at high speeds. These two regimes are connected via a highly unstable transition mode, where steady state operation is not possible, making autonomous operations challenging. Speed following is one of the key challenges in automating this class of vessel, as this capability is adversely affected by (i) the inherently slow dynamic response of the propulsion system, (ii) significant variation of the vessel's hydrodynamics in three distinct operating modes, and (iii) significant coupling between these hydrodynamics and the propulsion force. This paper presents a comparative study of three adaptive control algorithms developed for speed-holding capability on the SeaFox USV: (i) classical PID control with gain scheduling, (ii) model reference adaptive control, and (iii) L-1 adaptive control. Beginning with a description of the system identification experiments that informed our understanding of the open-loop plant dynamics, this paper proceeds through controller design and simulation, and presents results from open ocean sea trials. The experimental results provide a basis for an objective comparison of each algorithm's speed following performance and explicitly highlight the benefits of adaptive controllers.

关键词： Autonomous unmanned surface vehicle adaptive control Velocity control L-1 adaptation model reference adaptive control PID control Gain scheduling Unsteady hydrodynamics SeaFox USV

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modeling and control of a Micro-Grid Set Up using Photovoltaic Arrays

Modeling and Control of a Micro-Grid Set Up using Photovolta...

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45th Southeastern Symposium on System Theory

作者： Kamalasadan, Sukumar Al-Olimat, Khalid S. Univ N Carolina Dept Elect & Comp Engn Charlotte NC 28223 USA Ohio No Univ Dept Elect & Comp Engn Dept Comp Sci Ada OH 45810 USA

ISBN: (纸本)9781479900381;9781479900374

This paper presents a complete mathematical model of a micro-grid set up with PV arrays. The model consists of mathematical design and development of PV module and arrays, power conditioning DC/DC converter and the inverter set up. These designs are integrated with an inverter controller that controls the voltage at a power system bus. The complete system is used as a micro-grid set up connected to a power grid. Testing and evaluations of the micro-grid is then conducted using off-grid and on-grid studies. The uniqueness of the proposed modeling and control includes a complete model's details of micro-grid set up with PV system, power conditioning devices and load model, the utilization of an MPPT and feedback controller to control the output voltage and current. Thus it provides an appropriate real-life testing platform for micro-grid connections to power grid. Simulation results show the effectiveness and the accuracy of this micro-grid model to emulate real-life scenarios.

关键词： model reference adaptive control wind induction generator

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adaptive Systems with Closed-loop reference models, Part I: Transient Performance

Adaptive Systems with Closed-loop Reference Models, Part I: ...

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American control Conference (ACC)

作者： Gibson, Travis E. Annaswamy, Anuradha M. Lavretsky, Eugene MIT Dept Mech Engn Cambridge MA 02139 USA

ISBN: (纸本)9781479901784

This paper explores the transient properties of direct model reference adaptive control with closed loop reference models. The transients are characterized by bounds on the model following error, the rate of change of the adaptive parameter and rate of change of the control input. Both Euclidean and L-2 norms are used to characterize this transient behavior.

关键词： model reference adaptive control

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