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model reference input shaper design with applications to a high-speed robotic workcell with variable loads

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2008年第2期55卷 842-851页

作者： Yuan, Ding Chang, Timothy Colorado State Univ Dept Engn Pueblo CO 81001 USA New Jersey Inst Technol Dept Elect & Comp Engn Newark NJ 07102 USA

In this paper, the model reference zero vibration (MRZV) control design is introduced to improve transient performance of robotic manipulators. MRZV consists of a zero vibration (ZV) shaper as the feedforward control while utilizing model reference control to improve robustness and performance under plant model parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant model variations while maintaining the performance characteristics compared to standard shaper designs such as ZV and ZV and Derivative. A synthesis procedure is provided for the MRZV method to guarantee a prespecified level of residual vibration. Experimental verifications based on a standard cycle time test are carried out on an Adept Technology Cartesian robot. Results confirm the effectiveness of the proposed method.

关键词： input shaping model reference control robotic workull vibration control

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Adaptive fuzzy control of a non-linear servo-drive: Theory and experimental results

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2008年第6期21卷 846-857页

作者： Bellomo, D. Naso, D. Babuska, R. Delft Univ Technol Dept Mediamat Informat & Commun Theory Grp NL-2628 CD Delft Netherlands Politecn Bari Dipartimento Elettrotecn & Elettron I-70125 Bari Italy Delft Univ Technol Delft Ctr Syst & Control NL-2628 CD Delft Netherlands

Adaptive fuzzy control has been an active research area over the last decade and several stable adaptive fuzzy controllers have been proposed in the literature. Such controllers are generally based on feedback linearization and their parameters are updated by trackingerror-based adaptive laws, designed by Lyapunov synthesis. In this paper, different indirect adaptive schemes have been studied and compared by means of an experimental benchmark consisting of two coupled servo-drives. Parametric and structural changes are introduced to the controlled plant, in order to emphasize the advantages and limitations of the considered adaptive controllers. As the standard composite adaptation laws from the literature were found too sensitive to noise and unmodeled dynamics, a novel variant of the composite adaptation laws has been proposed, based on the filtered prediction error. Experimental results demonstrate that the proposed method improves the controller's tracking performance. (c) 2007 Elsevier Ltd. All rights reserved.

关键词： adaptive control fuzzy systems model reference control feedback linearization lyapunov stability electric drive

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Adaptive model reference control based on Takagi-Sugeno fuzzy models with applications to flexible joint manipulators

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KSME INTERNATIONAL JOURNAL 2004年第3期18卷 337-346页

作者： Lee, J Lim, JH Park, CW Kim, S Korea Atom Energy Res Inst Adv Robot Lab Taejon 305353 South Korea Korea Elect Technol Inst Precis Machinery Res Ctr Puchon 420140 Kyunggi Do South Korea Hanyang Univ Sch Elect Engn & Comp Sci Ansan Kyunggi Do South Korea

The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.

关键词： adaptive control fuzzy control flexible joint manipulator model reference control

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APPROACH TO OPTIMIZATION PROBLEMS WITH controlLER AND reference model TUNING

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IFAC Proceedings Volumes 2007年第18期40卷 721-726页

作者： Radu-Emil Precup Stefan Preitl Axel Gräser Miroslav Mihajlov “Politehnica” University of Timisoara Dept. of Automation and Applied Informatics Bd. V. Parvan 2 300223 Timisoara Romania Phone: +40-2564032-26 -24 Fax: +40-2564032-14 E-mail: rprecup@aut.utt.ro spreitl@aut.utt.ro Bremen University Institute of Automation FBI /NW1 Otto-Hahn-Allee 1 28359 Bremen Germany Phone: +49-421-218-7326 -3217 Fax: +49-421-218-4596 E-mail: ag@iat.uni-bremen.de mihajlov@iat.uni-bremen.de

The paper suggests an Iterative Feedback Tuning (IFT)-based approach in optimization problems ensuring both controller and reference model tuning. The cost function is introduced and Newton's method in terms of Gauss-Newton approximation is applied in the minimization of the cost function. The new IFT approach is derived using matrix notation. The particular case of PI controllers for servo systems is considered where the controlled plants are characterized by second-order integral type models. For these control systems the combination between IFT and Extended Symmetrical Optimum method is successful. Real-time experimental results for a PI-controlled servo system validate the IFT approach.

关键词： servo systems model reference control reference signals PI controllers optimization problems

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Multivariable nonlinear model reference control of cement mills

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2003年第5期25卷 373-385页

作者： Efe, MÖ Atilim Univ Dept Mechatron Engn Incek TR-06836 Ankara Turkey

This paper presents a method for model reference control of a cement milling circuit that has previously been studied several times. The approach presented is based on an experimentally justified model of a cement milling circuit. We derive the form of the control vector with the goal of driving the response of the system to that of a desired model in a noisy operating environment. The paper demonstrates the selection of the reference dynamics and the derivation of the control laws. The approach is based on the Lyapunov theory, and the results observed justify the tracking and stability claims of the paper.

关键词： industrial control Lyapunov stability model reference control nonlinear control

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Direct nonlinear control design: The virtual reference feedback tuning (VRFT) approach

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IEEE TRANSACTIONS ON AUTOMATIC control 2006年第1期51卷 14-27页

作者： Campi, MC Savaresi, SM Univ Brescia Dipartimento Elettron Automaz I-25123 Brescia Italy Politecn Milan Dipartimento Elettron & Informaz I-20133 Milan Italy

This paper introduces the virtual reference feedback tuning (VRFT) approach for controller tuning in a nonlinear setup. VRFT is a data-based method that permits to directly select the controller based on data, with no need for a model of the plant. It is based on a global model reference optimization procedure and, therefore, does not require to access the plant for experiments many times so as to estimate the control cost gradient. For this reason, it represents a very appealing controller design methodology for many control applications.

关键词： controller tuning data-based tuning direct control model reference control nonlinear systems

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model reference adaptive predictive control for a variable-frequency oil-cooling machine

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2004年第2期51卷 330-339页

作者： Tsai, CC Huang, CH Natl Chung Hsing Univ Dept Elect Engn Taichung 40227 Taiwan Ayuttha Technol Corp Taipei Taiwan

This paper develops methodologies and techniques for the design, analysis, and implementation of a model reference adaptive predictive temperature controller for a variable-frequency oil-cooling machine, suited for cooling high-speed machine tools. The oil-cooling process is modeled experimentally as a first-order system model with a time delay and its system parameters are identified using the recursive least-square method. Based on this model, a model reference adaptive predictive controller is proposed for achieving set-point tracking and robustness. A real-time model reference adaptive predictive control algorithm is then presented and implemented utilizing a stand-alone digital signal processor TMS320F243 from Texas Instruments Incorporated. The experimental results show that the proposed control method is proven capable of giving satisfactory performance under set-point changes, fixed loads, and load changes.

关键词： cooling process model reference control predictive control variable frequency

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MULTIVARIABLE NONLINEAR model reference control OF CEMENT MILLS

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IFAC Proceedings Volumes 2002年第1期35卷 31-36页

作者： Mehmet Önder Efe Okyay Kaynak Carnegie Mellon University Electrical and Computer Engineering Department Pittsburgh PA 15213-3890 U.S.A. Bogazici University Electrical and Electronic Engineering Department Bebek 80815 Istanbul Turkey

This paper presents a method for model reference control of a cement-milling circuit that has been studied previously. The approach presented is based on the experimentally justified model developed by Breugesen (1996), and derives the form of control vector with the goal of driving the behavior of the system to that of a desired model. The derivation is based on the Lyapunov theory, and the results observed confirm the tracking claims of the paper.

关键词： Nonlinear control model reference control Industrial control Lyapunov Stability

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Friction Compensation using Neural Networks Applicable to high precision motion control systems in manufacturing

Friction Compensation using Neural Networks Applicable to hi...

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3rd IEEE International Conference on Industrial Informatics (INDIN)

作者： Gundala, R Narain, A MNNIT Dept Elect Engn Allahabad Uttar Pradesh India

ISBN: (纸本)0780390946

There is an increasing number of applications in high precision motion control systems in manufacturing, i.e., ultra-precision machining, assembly of small components and micro devices. It is very difficult to assure such accuracy due to many factors affecting the precision motion, such as frictions and disturbances in the drive system. The standard proportional-integral-derivative (PID) type servo control algorithms are not capable of delivering the desired precision under the influence of frictions and disturbances. In this paper Neural Network model reference Adaptive controller (NNMRAC) is used to compensate the frictions and disturbances and the desired precision under the influence of frictions and disturbances is achieved. Therefore the proposed scheme can he applicable to a wide class of mechanical systems. The simulation results of single link robot arm with friction verify the effectiveness of the proposed scheme.

关键词： servo systems feed back control model reference control neural networks friction compensation

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SLIDING MODE control OF UNCERTAIN LINEAR SYSTEMS BASED ON A HIGH GAIN OBSERVER FREE OF PEAKING

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IFAC Proceedings Volumes 2005年第1期38卷 717-722页

作者： José Paulo V.S. Cunha Liu Hsu Ramon R. Costa Fernando Lizarralde State University of Rio de Janeiro Brazil COPPE/Federal University of Rio de Janeiro Brazil

A model-reference variable structure controller based on a high gain observer (HGO) is proposed and analyzed. For single-input-single-output (SISO) linear plants with relative degree larger than one, the switching law is generated using the HGO state while the modulation function in the control law is generated using signals from state variable filters free of high gains. This scheme achieves global exponential stability with respect to a small residual set and does not generate the peaking phenomena.

关键词： Variable-structure control high gain observer model reference control

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