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Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification

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ISA TRANSACTIONS 2015年 57卷 51-56页

作者： Bagherpoor, H. M. Salmasi, Farzad R. Univ Tehran Fac Engn Sch Elect & Comp Engn Tehran 14395 Iran

In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Robust adaptive model reference control Actuator fault Output feedback Dead-zone Uncertain system

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model reference control of LPV systems

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2009年第9期346卷 854-871页

作者： Abdullah, Ali Zribi, Mohamed Kuwait Univ Dept Elect Engn Safat 13060 Kuwait

This paper deals with the problem of model reference control for linear parameter varying (LPV) systems. The LPV systems under consideration depend on a set of parameters that are bounded and available online. The main contribution of this paper is to design and LPV model reference control scheme for LPV systems whose state-space matrices depend affinely on a set of time-varying parameters that are bounded and available online. The design problem is divided into two subproblems: the design of the coefficient matrices of the controller and the design of the gain of the state feedback controller for LPV systems. The singular value decomposition is used to obtain the coefficient matrices, while the linear matrix inequality methodology is used to obtain the parameter-dependent state feedback gain of the control scheme. A simple numerical example is used to illustrate the proposed design and a coupled-tank process example is used to demonstrate the usefulness and practicality of the proposed design. Simulation and experimental results indicate that the proposed scheme works well. (C) 2009 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： model reference control Linear parameter varying system Linear matrix inequality Singular value decomposition Coupled-tank process

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model reference FTC for LPV systems using virtual actuators and set-membership fault estimation

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2015年第5期25卷 735-760页

作者： Rotondo, Damiano Nejjari, Fatiha Puig, Vicenc Blesa, Joaquim Univ Politecn Cataluna Dept Automat Control Terrassa 08222 Spain

In this paper, a model reference fault tolerant control (FTC) strategy based on a reconfiguration of the reference model, with the addition of a virtual actuator block, is presented for linear parameter varying (LPV) systems. The advantage of the proposed FTC method is that the control system is reconfigured in such a way that the nominal controller is used without the need of retuning it. Moreover, the presence of saturations is taken into account through their incorporation in the reference model, and the introduction of additional varying parameters, such that the system exhibits some graceful performance degradation when the system could not achieve the desired state because of the actuator limits. The design of the control scheme is based on linear matrix inequalities (LMIs) and polytopic LPV techniques. In order to implement the proposed active FTC strategy, a fault estimation is required. In this paper, the fault estimation is formulated as a parameter estimation problem, which is solved using a set-membership approach. An aeronautical application is used to assess the performance of the proposed approach. Copyright (c) 2014 John Wiley & Sons, Ltd.

关键词： fault tolerant control linear parameter varying virtual actuators linear matrix inequalities model reference control set-membership

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Run-to-Run Disturbance Rejection for Feedforward Path Following of an Adaptively controlled Unmanned Helicopter

Run-to-Run Disturbance Rejection for Feedforward Path Follow...

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IEEE Conference on control and Applications (CCA)

作者： Dauer, Johann C. Faulwasser, Timm Lorenz, Sven DLR German Aerosp Ctr Inst Flight Syst Dept Unmanned Aircraft D-38108 Braunschweig Germany Karlsruhe Inst Technol Inst Appl Informat D-76131 Karlsruhe Germany Ecole Polytech Fed Lausanne Lab Automat CH-1015 Lausanne Switzerland

ISBN: (纸本)9781479977871

We present a scheme for run-to-run disturbance rejection in optimization-based feedforward path following of a remotely piloted aircraft system (RPAS). The proposed scheme is based on the inter-run estimation of unknown disturbances, such as wind induced forces and model uncertainties. These disturbance estimates are introduced in an optimal control problem used to compute feedforward controls. In order to achieve good run-to-run disturbance rejection, the structure of the underlying stabilizing flight control of the RPAS is taken into account. In this work, we consider flight control based on adaptive reference following and the special case of the unmanned helicopter ARTIS. We present simulation results and flight test data. These results underpin that the proposed approach significantly decreases flight path deviations in a run-to-run fashion.

关键词： feedforward path following remotely piloted aircraft system adaptive control model reference control run-to-run disturbance rejection unmanned aircraft system unmanned helicopter

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H_∞ output tracking control for network-based control systems

H<sub>∞</sub> output tracking control for network-based con...

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IEEE International Conference on Information and Automation 2015

作者： Xue, Xiaojuan Shen, Yanjun China Three Gorges Univ Coll Sci Yichang 443002 Hubei Peoples R China China Three Gorges Univ Coll Elect Engn & New Energy Yichang 443002 Hubei Peoples R China

ISBN: (纸本)9781467391047

This paper focuses on H-infinity output tracking control for network-based control systems with the physical plant in continuous time and the controller in discrete time. The main contribution of the paper is that a new form of the augmented closed-loop system is proposed, which can improve control performance. Based on a Lyapunov-Krasovskii functional and a LMI (linear matrix inequality)-based procedure, a state feedback controller which contains network-induced delays and data packet dropouts is designed for a class of linear systems. Finally, simulation results show that the proposed scheme is superior to some existing schemes in the literature.

关键词： model reference control networked control systems output tracking control sampled-data systems

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Design of a Temperature controller for an Hyperthermic Intraperitoneal Chemotherapy Equipment 10

Design of a Temperature Controller for an Hyperthermic Intra...

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10th Jubilee IEEE International Symposium on Applied Computational Intelligence and Informatics

作者： Iulia, Clitan Daniel, Moga Vlad, Muresan Nicoleta, Stroia Valentin, Sita Corneliu, Lungoci Aurel, Mironiuc Ion Tech Univ Cluj Napoca Dept Automat Cluj Napoca Romania Iuliu Hatieganu Univ Med & Pharm Dept Surg Cluj Napoca Romania

ISBN: (纸本)9781479999118

Cytoreductive surgery and hyperthermic intraperitoneal chemotherapy (HIPEC) allows approaching the peritoneal carcinomatosis, final stage of cancer, in a therapeutic manner. The commercially available HIPEC devices have some shortcomings, thus the authors intend to develop an affordable HIPEC equipment that surpasses the drawbacks of existing devices. HIPEC equipment needs to maintain a homogenous temperature for the cytostatic solution of 42 degrees C through the peritoneal cavity, thus, a temperature control structure is mandatory. Authors present in this paper the design of two cytostatic solution's temperature control structures, with a neural network controller and an Internal model control (IMC) controller. Both controller design methods use the heating process model, and in addition this paper presents a comparison between the two control structures, from the point of view of simulated step response performance set.

关键词： hyperthermic intraperitoneal chemotheraphy (HIPEC) peritoneal carcinomatosis temperature control internal model control model reference control

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Micro Grid Stability Enhancement Using SVC with Fuzzy model reference Learning controller Algorithm

Micro Grid Stability Enhancement Using SVC with Fuzzy Model ...

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IEEE International Conference on Smart Energy Grid Engineering (SEGE)

作者： Eldessouky, Ahmed S. Gabbar, Hossam A. Canadian Int Coll Cairo Egypt Univ Ontario Inst Technol Fac Energy Syst & Nucl Sci Oshawa ON Canada

ISBN: (纸本)9781467379335

Maintaining voltage level stability of islanded mode Micro Grids (MG) is a challenging objective due to the limited power flow between sources and loads. The objective of this work is to enhance the dynamic performance of islanded mode Micro grid in the presence of load disturbance using static VAR compensator (SVC). The contribution of this work is the implementation of PI fuzzy model reference learning controller (FMRLC) to SVC control loop. The control algorithm compensates for nonlinearity possessed by MG where fuzzy membership functions and implication imbedded in both controller and inverse model that achieve better presentation of both uncertainty and nonlinearity of the power system dynamics. Hence, MG keeps desired performance as required irrespective of the operating condition. In addition, learning capabilities of the proposed control algorithm compensates for grid parameter variation even with inadequate information about mathematical presentation of load dynamics. The reference model was designed to reject bus voltage disturbance, created by load and wind variation, with achievable desired performance. Accordingly, SVC with fuzzy controller was able to reject bus voltage disturbance by matching closely the reference model performance. Simulations were carried out to study the steady-state and transient performance of MG in islanded mode. The MG is composed of a PV bus supplied by wind turbine and induction generator, a PQ bus connected to nonlinear dynamic load and linear load, a single distribution line connecting the two buses, and SVC. The proposed control algorithm robustness was tested by providing load disturbance in different operating conditions and observing the system dynamic performance. The performance of the proposed controller is compared to a conventional PID controller using overshoot, transient oscillation, Integral-of-Time Multiplied Absolute Error (ITMAE), and integral square error (ISE) as performance parameters. Both ITMAE and ISE v

关键词： static VAR compensator voltage regulation learning control fuzzy control model reference control micro grid

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Research on multivariable model reference variable structure control

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2nd International Conference on Mechanical Engineering, Materials and Energy (ICMEME 2012)

作者： Jiang Xu Feng Zhitao Beihang Univ Unmanned Aircraft Syst Inst Beijing 100191 Peoples R China

ISBN: (纸本)9783037855928

This paper studies the output-feedback variable structure control for MIMO (multi-input multi-output) linear systems with generalized relative degree one. A new variable structure control scheme is proposed within the framework of model reference control. Under the assumption that the high frequency gain matrix of the plant can be transformed to a main diagonal dominant matrix via full rank transformation, it is shown that all signals of the closed-loop system are globally uniformly bounded and meanwhile, the tracking error converges to zero exponentially. Simulation results are presented to illustrate the effectiveness of the proposed scheme.

关键词： MIMO systems linear systems model reference control variable structure control

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A comparison of model-based and data-driven controller tuning

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INTERNATIONAL JOURNAL OF ADAPTIVE control AND SIGNAL PROCESSING 2014年第10期28卷 882-897页

作者： Formentin, Simone van Heusden, Klaske Karimi, Alireza Univ Bergamo Dipartimento Ingn Informaz & Metodi Matemat Bergamo Italy Univ British Columbia Vancouver BC V5Z 1M9 Canada Ecole Polytech Fed Lausanne Lab Automat CH-1015 Lausanne Switzerland

In many industrial applications, finding a model from physical laws that is both simple and reliable for control design is a hard and time-consuming undertaking. When a set of input/output measurements is available, one can derive the controller directly from data, without relying on the knowledge of the physics. In the scientific literature, two main approaches have been proposed for control system design from data. In the 'model-based' approach, a model of the system is first derived from data and then a controller is computed-based on the model. In the 'data-driven' approach, the controller is directly computed from data. In this work, the previous approaches are compared from a novel perspective. The main finding of the paper is that, although from the standard perspective of parameter variance analysis the model-based approach is always statistically more efficient, the data-driven controller might outperform the model-based solution for what concerns the final control cost. Copyright (C) 2013 John Wiley & Sons, Ltd.

关键词： data-driven controller tuning model reference control accuracy analysis

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Stochastic adaptive optimal control of under-actuated robots using neural networks

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NEUROCOMPUTING 2014年 142卷 190-200页

作者： Li, Jing Guo, Xi Li, Zhijun Chen, Weisheng Xidian Univ Sch Math & Stat Xian 710071 Peoples R China Minist Educ Key Lab Autonomous Syst & Network Control Beijing Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China

Stochastic adaptive optimal control of robotic manipulators with a passive joint which has neither an actuator nor a brake is investigated. Firstly, the under-actuated system is decomposed into two subsystems with the first n-1 joints subsystem fully actuated while the second one unactuated. Secondly, a reference model for the first subsystem is derived by using the Linear Quadratic Regulator (LQR) optimization approach which guarantees the motion tracking and achieves the minimized moving accelerations. Instead of leaving the unactuated joint dynamics uncontrolled, the reference trajectory for the last joint is designed to indirectly affect the movements such that the desired trajectory can be achieved. Radial Basis Function neural networks (RBFNNs) have been employed to design the adaptive reference control and to construct a reference trajectory generator for the last joint. The stability and the optimal tracking performance in finite time have been rigorously established by theoretic analysis. Simulation studies show the effectiveness of the proposed control approach. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Under-actuated robots Stochastic control LQR model reference control RBFNN

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