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Virtual reference Feedback Tuning for non-minimum phase plants

AUTOMATICA 2011年第8期47卷 1778-1784页

作者： Campestrini, L. Eckhard, D. Gevers, M. Bazanella, A. S. Univ Fed Rio Grande do Sul Dept Elect Engn Porto Alegre RS Brazil Catholic Univ Louvain Dept Engn Math B-3000 Louvain Belgium

model reference control design methods fail when the plant has one or more non-minimum phase zeros that are not included in the reference model, leading possibly to an unstable closed loop. This is a very serious problem for data-based control design methods, where the plant is typically unknown. In this paper, we extend the Virtual reference Feedback Tuning method to non-minimum phase plants. This extension is based on the idea proposed in Lecchini and Gevers (2002) for Iterative Feedback Tuning. We present a simple two-step procedure that can cope with the situation where the unknown plant may or may not have non-minimum phase zeros. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： model reference control Data-based control VRFT Non-minimum phase systems Flexible reference model

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Neural networks in virtual reference tuning

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2011年第6期24卷 983-995页

作者： Esparza, Alicia Sala, Antonio Albertos, Pedro Univ Politecn Valencia Dept Syst Engn & Control Valencia 46022 Spain

This paper discusses the application of the virtual reference tuning (VRT) techniques to tune neural controllers from batch input-output data, by particularising nonlinear VRT and suitably computing gradients backpropagating in time. The flexibility of gradient computation with neural networks also allows alternative block diagrams with extra inputs to be considered. The neural approach to VRT in a closed-loop setup is compared to the linear VRFT one in a simulated crane example. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Neural networks Virtual reference feedback tuning Back propagation through time model reference control Data-based controller tuning Direct controller design

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Design of model reference control for second-order linear systems

Design of model reference control for second-order linear sy...

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2007年中国智能自动化会议

作者：王国胜吕强段广仁 Department of Control Engineering Academy of Armored Force Engineering Department of Control Engineering Academy of Armored Force Engineering Center for Control Theory and Guidance Technology Harbin Institute of Technology

The design problem of model reference control in second-order linear systems via the feedforward plus feedback was investigated.A necessary and sufficient condition for the existence of this controller was *** on a result of eigenstructure assignment,complete parametric expressions for the controllers were presented and a parametric approach to design the model reference control in second-order linear systems was *** parametric approach offers all the design degrees of freedom,which can be specified to satisfy some additional system *** addition,the parametric method utilizes the original system data directly,and thus it is convenient to use in applications.A numerical example shows that the proposed parametric method is effective.

关键词： second-order linear systems model reference control eigenstructure assignment parameterization

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model reference Zero Vibration control of Ultrahigh Precision Piezoelectric Nanopositioner

Model Reference Zero Vibration Control of Ultrahigh Precisio...

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American control Conference

作者： Lan Yu Timothy N. Chang Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 USA

ISBN: (纸本)9781424474264

This paper presents a new control method for high precision positioning of a monolithic cruciform piezoelectric actuator system which contains circuital nonlinearities as well as uncertainties. The proposed model reference Zero Vibration (MRZV) control combines the advantages of model reference and input shaping, is introduced to control such ultrahigh positioning devices whose nonlinear characteristics can hardly be modeled precisely enough in the scale of nanometers. The transient response and performance of this cruciform piezoelectric actuator is improved without requiring the explicit knowledge of an accurate model of the parasitic nonlinearities. Experimental results confirm the effectiveness and practicality of high precision positioning actuator with proposed model reference control method.

关键词： model reference model reference control control Methods precise registration Nanopositioning Piezoelectric actuators nonlinearity vibration control actuator system Zero non-linear characteristic

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Fault estimation and MRC-based active FTC

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IFAC Proceedings Volumes 2011年第1期44卷 14808-14813页

作者： Chenglei Nie Ron J. Patton Department of Engineering University of Hull Hull HU6 7RX UK (Tel:+44-1482-465152)

Abstract For systems that have no unique linearization equilibria, for example multi-link robot systems, the classical “direct” methods of Fault Tolerant control (FTC) via fault estimation/compensation cannot easily be achieved via a linear time-invariant systems approach. This paper proposes an FTC strategy using an active fault estimator based on model reference control (MRC). The novelty lies in the combined use of on-line fault estimation and FTC design applied to a model reference system. The reference model is designed via pole-placement and the estimator design parameters are synthesized via a Linear Matrix Inequalities (LMIs) approach. An example of a non-linear two-link Manipulator (TLM) system is described to illustrate the design procedure.

关键词： model reference control Fault Tolerant control Fault Estimation LMI Robot Manipulator Systems

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Gain-Scheduled Yaw control for Aircraft Ground Taxiing

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IFAC Proceedings Volumes 2011年第1期44卷 12970-12975页

作者： D. Lemay Y. Chamaillard M. Basset J.P. Garcia Messier-Bugatti Safran Group ZA Louis Bréguet BP 40 78141 Vélizy Cedex France PRISME Université d'Orléans 8 rue Léonard de Vinci 45072 Orléans Cedex 2 France MIPS Université de Haute Alsace 12 rue des Frères Lumière 68093 Mulhouse Cedex France

Abstract a gain scheduled yaw controller is proposed to control low speed rolling and manoeuvring of an aircraft on ground. This method is based on local linearisation of a nonlinear model and the synthesis of a family of local controllers. A parallel feedforward action is added to achieve the setpoint tracking and let the feedback controller perform the regulation task. Simulation results show attractive and robust performances regard to the adopted control method.

关键词： Aircraft control Gain-Scheduling Feedforward model reference control

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Design of an active suspension system for a quarter-car road vehicle model using model reference control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2006年第I2期220卷 91-108页

作者： Parthasarathy, SS Srinivasa, YG Indian Inst Technol Dept Mech Engn Precis Engn & Instrumentat Lab Madras 600036 Tamil Nadu India

The use of skyhook damping for reduction of the vibration in the suspension systems is well documented. The drawback is that it is not practically feasible to obtain the equivalent of a reference point in the sky. The alternative method of using a damper between the sprung mass (the vehicle hull) and the unsprung mass (the wheel assembly) leads to a deterioration in the performance of the unsprung mass. In this paper a new method is proposed that tries to overcome the limitation of the practical skyhook damping method by the use of the model reference control (MRC) method, where the control input is utilized to achieve near-ideal skyhook sprung mass performance in a practical skyhook damping set-up. The MRC method is also applied to a quarter-car suspension model, where the control input is used to achieve the response of a system with damping and stiffness values different from those of the actual system. This allows for variation of the system constants as dictated by dynamic response needs. The proposed methods are applied on a typical quarter-car suspension system and the necessary time and frequency domain simulations are carried out to validate the theoretical predictions.

关键词： model reference control skyhook damping quarter-car suspension

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Adaptive control allocation for non-linear systems with internal dynamics

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IET control THEORY AND APPLICATIONS 2010年第6期4卷 909-922页

作者： Liao, F. Lum, K. -Y. Wang, J. L. Benosman, M. Natl Univ Singapore Temasek Labs Singapore 117411 Singapore Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

An adaptive control allocation method is presented for a general class of non-linear systems with internal dynamics and unknown parameters. A certainty equivalence indirect adaptive approach is used to estimate the unknown parameters. Based on the estimated parameters, model reference control and control allocation techniques are used to control the non-linear system subject to control constraints and internal dynamics stabilisation. A Lyapunov design approach with the property of convergence to a positively invariant set is proposed. The derived adaptive control allocation is in the form of a dynamic update law, which, together with a stable model reference control, guarantees that the closed-loop non-linear system be input-to-state stable.

关键词： nonlinear systems Stability in control theory adaptive control allocation Lyapunov design approach model reference adaptive control systems Self-adjusting control systems Lyapunov methods Nonlinear control systems internal dynamics convergence closed loop systems model reference control closed loop system

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Sound source tracking considering obstacle avoidance for a mobile robot

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ROBOTICA 2010年第7期28卷 1057-1064页

作者： Uchiyama, Naoki Sano, Shigenori Yamamoto, Akihiro Toyohashi Univ Technol Dept Mech Engn Tempaku Ku Aichi 4418580 Japan

Sound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.

关键词： Sound source tracking Obstacle avoidance Mobile robot model reference control

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model reference adaptive control of structurally perturbed second-order distributed parameter systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2006年第16期16卷 773-799页

作者： Demetriou, Michael A. Fahroo, Fariba Worcester Polytech Inst Dept Mech Engn Worcester MA 01609 USA USN Dept Appl Math Postgrad Sch Monterey CA 93943 USA

We consider a class of second-order distributed parameter systems with structured perturbations in which both partial position and partial velocity measurements are assumed available. The control objective is to design an adaptive controller so that the plant state follows the state of a second-order reference model despite the presence of the perturbation terms. Copyright (C) 2006 John Wiley & Sons, Ltd.

关键词： adaptive control distributed parameter systems second-order systems model reference control structured perturbations

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