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Constrained robust model reference adaptive control of a Tilt-Rotor Quadcopter Pulling an Unmodeled Cart

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2021年第1期57卷 39-54页

作者： Anderson, Robert B. Marshall, Julius A. L'Afflitto, Andrea Virginia Tech Dept Ind & Syst Engn Blacksburg VA 24061 USA

This article presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads. This control architecture leverages on a thorough analysis of the aircraft's equation of motion, which reveals gyroscopic effects that were not fully characterized and were disregarded while synthesizing control algorithms in prior publications. Furthermore, the proposed control architecture employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads. Flight tests involving a quadcopter pulling an unmodeled cart by means of a thin rope of unknown length, which is slack at the beginning of the mission, verify the effectiveness of the theoretical results.

关键词： Mathematical model Trajectory tracking Propellers Payloads Uncertainty Aircraft Vehicle dynamics Constrained feedback control synthesis robust model reference adaptive control sling payload tilt-rotor quadcopter

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A robust model reference adaptive control FRAMEWORK FOR INTEGRATED FLIGHT PROPULSION SYSTEM

A ROBUST MODEL REFERENCE ADAPTIVE CONTROL FRAMEWORK FOR INTE...

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ASME Turbomachinery Technical Conference and Exposition (Turbo Expo)

作者： Wang, Haonan Wang, Xi Beihang Univ Sch Energy & Power Engn Beijing 100191 Peoples R China

ISBN: (纸本)9780791884140

In this paper, a robust model reference adaptive control framework for the integrated flight propulsion system has been proposed. It could serve as a general controller structure for the integrated flight propulsion system. The linear state feedback controller using LQR method is firstly designed under deterministic uncertainty-free conditions, serving as the reference model. robust adaptive controller is thereafter introduced to make the system state trajectories converge to the reference model under parametric uncertainties. It is worth noting that, such an arrangement makes the whole control framework easy to be implemented as a modification to existing well designed linear controllers. Besides, high order complexities of the system can be resolved by decomposing it using singular perturbation method based on time scale. A formal stability proof will be provided. The whole control framework has been implemented on a trim point of an F-16 model. Only actuator anomalies have been concerned as uncertainties to verify the effectiveness of the control framework. However, this structure can be easily extended to accommodate other parametric uncertainties. The simulation results of the controller implemented on the nonlinear system near an equilibrium point will be provided. Superior performance regarding stability and robustness can be observed from the simulation results with robust adaptive augmentation controller used.

关键词： Integrated Flight Propulsion System LQR Singular Perturbation robust model reference adaptive control F-16 Actuator Anomaly

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A Generalization for model reference adaptive control and robust model reference adaptive control adaptive Laws for a Class of Nonlinear Uncertain Systems with Application to control of Wing Rock Phenomenon

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INTERNATIONAL JOURNAL OF ENGINEERING 2020年第11期33卷 2372-2383页

作者： Roshanian, J. Rahimzadeh, E. KN Toosi Univ Technol Dept Aerosp Engn Tehran Iran

Lyapunov's direct method is a primary tool for designing model reference adaptive control (MRAC) and robust MRAC schemes. In general, Lyapunov function candidates contain two categories of quadratic terms. The first category includes the system tracking error quadratic terms or, in some cases, consist of the system state quadratic terms. The second consists of the parameter estimation error quadratic terms. To design MRAC and robust MRAC systems, researchers have used a limited variety for choosing quadratic terms. In this study, we consider a general form for the tracking error quadratic terms. We consider a strictly increasing function that belongs to the class of c(1), which is a function of state tracking error quadratic terms. It yields a general structure for stable adaptive laws for updating controller parameters. For the MRAC scheme, the global asymptotic stability of the closed-loop system and stability and uniform bounded tracking of robust MRAC schemes are guaranteed. To evaluate the performance of the designed controllers, we consider the single DOF wing rock dynamics.

关键词： Lyapunov's Direct Method model reference adaptive control robust model reference adaptive control General adaptive Laws Strictly Increasing Function Wing Rock

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A Modified robust adaptive Super-twisting Sliding Mode controller for Grid-connected Converters

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2023年第10期21卷 3151-3165页

作者： Hollweg, Guilherme Vieira Evald, Paulo Jefferson Dias de Oliveira Tambara, Rodrigo Varella Su, Wencong Grundling, Hilton Abilio Univ Michigan Dearborn Dept Elect & Comp Engn ECE Dearborn MI 48128 USA Univ Fed Pelotas Intelligent Syst & Control Grp Pelotas Brazil Univ Fed Santa Maria Power Elect & Control Res Grp Santa Maria Brazil

This work introduces the application of a new adaptive control structure, which is a modification of the robust model reference adaptive controller (RMRAC) and adaptive super-twisting sliding mode (ASTSM). This controller was previously proposed in the literature and applied to the current control of a grid-connected converter under uncertain grid environments. However, its STSM structure used the tracking error signal function as a sliding surface, which tends to impose considerable chattering in the system. The proposed controller maintains the characteristics of the known structure but replaces the signal function in the STSM equations with a sigmoid function, reducing the current tracking error and improving the system regulation since it is smoother. As the control structure lies in RMRAC theory and some core equations change, stability analysis of the adaptation algorithm is also carried out. Experimental results in a 7.5 kW converter are presented in which the known RMRAC-ASTSM controller presents 2.45% total harmonic distortion while the modified adaptive structure obtains 2.22% total harmonic distortion and better regulation performance.

关键词： adaptive control chattering mitigation grid-tied three-phase converters robust control robust model reference adaptive control super-twisting sliding mode

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Lyapunov stability analysis of discrete-time robust adaptive super-twisting sliding mode controller

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INTERNATIONAL JOURNAL OF control 2023年第3期96卷 614-627页

作者： Hollweg, Guilherme Vieira Dias de Oliveira Evald, Paulo Jefferson Cirolini Milbradt, Deise Maria Tambara, Rodrigo Varella Grundling, Hilton Abilio Univ Fed Santa Maria Santa Maria RS Brazil Franciscan Univ Santa Maria RS Brazil

This paper presents a discrete-time robust adaptive Super-Twisting Sliding Mode controller and its stability analysis by means of Lyapunov stability theory. The control law is composed by two different control structures: a robust model reference adaptive controller (RMRAC) and an adaptive Super-Twisting Sliding Mode (STSM) controller. The main advantage of the control structure is its robust performance and high adaptability in face of unmodelled dynamics, presenting a fast reference tracking without chattering, since it uses a second-order Sliding Mode action into adaptive control structure. The stability and robustness analysis of the control structure are presented in discrete time, considering the overall plant, that is, in presence of matched and unmatched dynamics. In addition, the control structure performance is corroborated with simulation results, considering a non-minimum phase unstable plant. Moreover, the presented results are compared with an adaptive first-order SM control-based RMRAC, which can be clearly seen that proposed controller has better performance, mainly by means of chattering mitigation.

关键词： adaptive control Lyapunov stability analysis adaptive super-twisting sliding mode robust model reference adaptive control

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Feasibility Assessment of adaptive Sliding Mode controllers for Grid-Tied Inverters with LCL Filter

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JOURNAL OF control AUTOMATION AND ELECTRICAL SYSTEMS 2022年第2期33卷 434-447页

作者： Hollweg, Guilherme Vieira Dias de Oliveira Evald, Paulo Jefferson Mattos, Everson Tambara, Rodrigo Varella Grundling, Hilton Abilio Univ Fed Santa Maria Grp Power Elect & Control Santa Maria RS Brazil Franciscan Univ Steubenville Steubenville OH USA

This paper proposes a comparative performance analysis between two robust adaptive controllers grounded on robust model reference adaptive control (RMRAC) and Sliding Mode control (SMC) theories. Both controllers are totally developed on discrete-time domain. The first controller is an RMRAC integrated to an adaptive SMC, named RMRAC-SM, which has a first order sliding surface. The second controller is an RMRAC-based Super-Twisting Sliding Mode (STSM) controller, named RMRAC-STSM. Both controllers were applied on grid-injected current control of a three-phase grid-tied Voltage Source Inverter (VSI) with LCL filter. Moreover, both structures were designed considering a reduced order plant model. Experimental results using a 5.4 kW VSI with LCL filter are presented to discuss the performance and robustness differences of proposed control structures. The main advantage of RMRAC-STSM in relation to the RMRAC-SM is the chattering smoothing, which reduces even more the tracking and augmented errors. It implies straightforwardly on power converter Total Harmonic Distortion (THD) decrease, which was 2.82% for RMRAC-STSM against 3.04% for RMRAC-SM.

关键词： adaptive first order sliding mode adaptive second order sliding mode robust model reference adaptive control LCL Grid-tied converter

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Self-tuning methodology for adaptive controllers based on genetic algorithms applied for grid-tied power converters

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control ENGINEERING PRACTICE 2023年第1期135卷

作者： Hollweg, Guilherme Vieira Evald, Paulo Jefferson Dias de Oliveira Mattos, Everson Borin, Lucas Cielo Tambara, Rodrigo Varella Montagner, Vinicius Foletto Univ Michigan Dept Elect & Comp Engn ECE Dearborn MI 48128 USA Univ Fed Pelotas Intelligent Syst & Control Grp Pelotas RS Brazil Univ Fed Santa Maria Power Elect & Control Grp Santa Maria RS Brazil

The performance and stability of adaptive controllers is highly dependent on its parameter initialization. For non-expert designers, the parametrization of these controllers can be highly time consuming and an exhausting task. In order to improve the response of adaptive controllers without needing more specialized knowledge, this work proposes a procedure for self-tuning (optimal parametrization) of direct type adaptive controllers using a genetic algorithm. The proposal does not harm any property of stability and convergence of the adaptive strategy, only adding an off-line stage of parameter selection, which is carried out in a reasonable computational time. As a case study, this self-tuning procedure is applied for initialization of nine parameters of a robust model reference adaptive controller and adaptive Super-Twisting Sliding Mode, a known adaptive structure from the literature, suitable for current regulation of three-phase voltage source converters operating under grid impedance variations. For comparison with the proposed self-tuning, a similar procedure using fmincon and simulated annealing algorithms are also tested. The experimental results show that the proposed procedure using Genetic Algorithm can provide lower tracking error, faster regulation dynamics and reduced settling time, leading to better performance than the same controller with parameters initialized empirically.

关键词： Optimal parametrization Genetic algorithm robust model reference adaptive control Sliding mode control Super-twisting

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A Hybrid robust adaptive Sliding Mode controller for partially modelled systems: Discrete-time Lyapunov stability analysis and application

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NONLINEAR ANALYSIS-HYBRID SYSTEMS 2023年 48卷

作者： Milbradt, Deise Maria Cirolini Evald, Paulo Jefferson Dias de Oliveira Hollweg, Guilherme Vieira Grundling, Hilton Abilio Univ Fed Santa Maria Grp Power Elect & Control Santa Maria RS Brazil Univ Fed Pelotas Intelligent Syst & Control Grp Pelotas RS Brazil Univ Michigan Dept Elect & Comp Engn Dearborn MI USA

This work presents a new discrete-time Hybrid robust adaptive Sliding Mode controller, developed from the union of a robust model reference adaptive controller, an adaptive Sliding Mode controller, and an adaptive One Sample Ahead Preview controller in an unique control structure. robust model reference adaptive controller is an adequate direct adaptive control strategy to control partially known plants, but can present slow closed-loop response to ensure global stability. Therefore, an adaptive One Sample Ahead Preview controller is incorporated to accelerate transient regimes, once it tries to track reference signal in one sample. Furthermore, an adaptive Sliding Mode controller is also merged in the controller structure to help controller performance in transient regime and it also improves relevantly the steady state response in a scenario of several unmodelled dynamics Stability analysis of this controller using Lyapunov criterion and its robustness proof are provided, considering the plant subjected to unmodelled dynamics, which provides controller design constraints. These proofs show the controller is globally stable, and the tracking error tends to a residual set in steady state, even in the presence of matched and unmatched dynamics. Numerical simulations of the Hybrid robust adaptive Sliding Mode controller applied on an unstable nonminimum-phase plant are presented, where only part of the overall plant is take into consideration for controller design. Results corroborate the feasibility and robustness of the developed control strategy and the performance superiority when compared to an adaptive One Sample Ahead Preview controller, with a 75% tracking error reduction in a scenario of several unmodelled dynamics.(c) 2023 Elsevier Ltd. All rights reserved.

关键词： robust model reference adaptive control Sliding Mode controller Stability proofs

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Discrete RMRAC-STSM Structure for Current Regulation of Single-Phase Grid-Tied Converters with LCL Filter 14

Discrete RMRAC-STSM Structure for Current Regulation of Sing...

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14th IEEE International Conference on Industry Applications (INDUSCON)

作者： Hollweg, Guilherme Evald, Paulo Silveira, Wagner Mattos, Everson Tambara, Rodrigo Grundling, Hilton Univ Fed Santa Maria Elect Engn GEPOC Santa Maria RS Brazil Franciscan Univ Biomed Engn Santa Maria RS Brazil

ISBN: (纸本)9781665441186

This paper proposes the design of a robust model reference adaptive controller (RMRAC) with an adaptive Super-Twisting Sliding Mode (STSM) controller using a first order model reference, neglecting a pair of conjugated complex poles of the system plant (LCL filter). This control strategy is designed for current control of single-phase grid-tied inverters with LCL filter for weak grids and has been applied to a Voltage Source Inverter (VSI). Simulation results are presented to show the difference and advantages of this control strategy compared to a classical P+R controller and with an RMRAC with adaptive first order Sliding Mode (RMRAC-SM) controller.

关键词： robust model reference adaptive control super-twisting sliding mode grid-tied converter LCL

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A robust adaptive Super-Twisting Sliding Mode controller applied ongrid-tied power converter with an LCL filter

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control ENGINEERING PRACTICE 2022年第0期122卷 105104-105104页

作者： Hollweg, Guilherme Vieira Evald, Paulo Jefferson Dias de Oliveira Tambara, Rodrigo Varella Grundling, Hilton Abilio Univ Fed Santa Maria Power Elect & Control Res Grp Santa Maria RS Brazil Fed Univ Rio Grande Rio Grande RS Brazil

This paper presents a new robust adaptive controller, totally developed on discrete-time. This controlleris composed by two control structures: a robust model reference adaptive controller (RMRAC) and anadaptive Super-Twisting Sliding Mode (STSM) controller, constituting a new control structure, nominatedrobust adaptive STSM controller. The main advantage of this new control proposal is its high adaptabilityand robust performance, with fast reference tracking without chattering. The stability and robustness analysis,in discrete time, are presented, considering the overall plant, that is, in presence of matched and unmatcheddynamics. To evaluate its robustness performance, the proposed controller is designed for grid-injected currentcontrol of three-phase grid-tied power converter with an LCL filter under weak grid. To validate it, the plantwas partially modeled as a first order transfer function, neglecting capacitor dynamics and considering itas an additive dynamics on control design. Experimental results are presented to corroborate the controllerperformance and the stability analysis by means of Lyapunov Theory is provided

关键词： adaptive control robust control robust model reference adaptive control Super-Twisting Sliding Mode Grid-tied three-phase converters

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