A hybrid sliding mode control strategy for a class of second order systems is presented in this paper. It is characterized by an event-driven gain reduction mechanism relying on a decomposition of the system state int...
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A hybrid sliding mode control strategy for a class of second order systems is presented in this paper. It is characterized by an event-driven gain reduction mechanism relying on a decomposition of the system state into regions. By enforcing sliding mode behaviors on a suitable set of sliding manifolds, while avoiding the generation of limit cycles, the proposed strategy proves to globally asymptotically stabilize the origin of the system state space.
The purpose of this paper is to marry the two concepts of multiple model adaptive control and safe adaptive control. In its simplest form, multiple model adaptive control involves a supervisor switching among one of a...
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The purpose of this paper is to marry the two concepts of multiple model adaptive control and safe adaptive control. In its simplest form, multiple model adaptive control involves a supervisor switching among one of a finite number of controllers as more is learnt about the plant, until one of the controllers is finally selected and remains unchanged. Safe adaptive control is concerned with ensuring that when the controller is changed in an adaptive control algorithm, the frozen plant-controller combination is never (closed-loop) unstable. This is a non-trivial task since by definition of an adaptive control problem, the plant is not fully known. The proposed solution method involves a frequency-de pendent performance measure and employs the Vinnicombe metric, The resulting safe switching guarantees depend on the extent to which a closed-loop transfer function can be accurately identified. Copyright (C) 2001 John Wiley & Sons, Ltd.
We investigate a switching adaptive control scheme based on falsification which is conceptually different from existing switching adaptive control schemes. A feature of the proposed localization method is its fast mod...
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We investigate a switching adaptive control scheme based on falsification which is conceptually different from existing switching adaptive control schemes. A feature of the proposed localization method is its fast model falsification capability. In the LTI case this is manifested as the rapid convergence of the switching controller. By analysing the geometry of localization we give a complete solution to the problem of optimal localization. (C) 2000 Elsevier Science Ltd. All rights reserved.
Multiple Model Adaptive Control involves a supervisor switching among one of a finite number of controllers as more is learnt about the plant. Safe Adaptive Control is concerned with ensuring that when the controller ...
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Multiple Model Adaptive Control involves a supervisor switching among one of a finite number of controllers as more is learnt about the plant. Safe Adaptive Control is concerned with ensuring that when the controller is changed in an adaptive control algorithm, the frozen plant-controller combination is never (closed loop) unstable. A controller scheme is proposed that combines these principles and involves a frequency-dependent performance measure based on the Vinnicombe metric. Safe switching is guaranteed to the extent which closed loop transfer function identification is accurate.
Although many robust controllers have been proposed for the systems with uncertainties, most of them were too conservative. So, some design scheme of the controller satisfying both the robust stability and the good co...
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Although many robust controllers have been proposed for the systems with uncertainties, most of them were too conservative. So, some design scheme of the controller satisfying both the robust stability and the good control performance has been desired. In this paper, a design scheme of a robust PID controller is proposed, which is composed of an adaptive switching scheme and some robust PID sub-controllers switched by the former according to a certain property of the controlled object. Finally, the proposed control scheme is investigated on a numerical simulation example.
This paper presents a new direct adaptive impedance controller for force/position task that includes transition phases from free to constrained motions. This scheme ensures global asymptotic stability without the need...
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This paper presents a new direct adaptive impedance controller for force/position task that includes transition phases from free to constrained motions. This scheme ensures global asymptotic stability without the need for a priori knowledge of environment stiffness. One of the major consequence of this study is that a generalization of the time-varying impedance leads to integral force feedback. Experimental results on a two-degree-of-freedom planar manipulator are reported. (C) 1997 Elsevier Science Ltd.
This paper demonstrates how to stabilize a nonholonomic integrator using a hybrid control law employing switching and logic. Results concerning stability and performance of the resulting hybrid system are derived. One...
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This paper demonstrates how to stabilize a nonholonomic integrator using a hybrid control law employing switching and logic. Results concerning stability and performance of the resulting hybrid system are derived. One of the main advantages of this type of controller is that the stability analysis can be made using fairly straightforward arguments. The methodology used is generalizable to a larger class of control problems related to nonholonomic systems.
A procedure is presented for designing a real-time controller that, despite imprecise knowledge of the processing rates of a multi-part-type manufacturing facility, will achieve a desired cyclical operation mode and w...
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A procedure is presented for designing a real-time controller that, despite imprecise knowledge of the processing rates of a multi-part-type manufacturing facility, will achieve a desired cyclical operation mode and will return the facility to this operating mode in finite time when isolated disturbances occur. To achieve finite-time disturbance correction, while compensating for the uncertainty in processing rates, the controller uses a switching strategy to specify the processing times and idling intervals for each part-type, and to dynamically allocate the raw material input rate.
The purpose of this paper is to describe a self-adjusting, vision-based controller which is able to control the position of a robotic manipulator without explicit calibration of camera parameters. The control strategy...
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The purpose of this paper is to describe a self-adjusting, vision-based controller which is able to control the position of a robotic manipulator without explicit calibration of camera parameters. The control strategy is based on the concepts of cyclic switching (Pait 1993) and dwell-time switching (Morse 1995a). With these techniques, it is possible to design and implement a supervisory control system capable of transferring to and holding at a prescribed set-point, the output of a process modeled by a dynamical system with large scale parametric uncertainty.
The plane Least Squares Algorithm has a relative good convergence to the stationary value of a process. Not the same about those which detains random flow mode changes or parameter slithering with comparable orders wi...
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The plane Least Squares Algorithm has a relative good convergence to the stationary value of a process. Not the same about those which detains random flow mode changes or parameter slithering with comparable orders with the process noises. The method has appeared as solution of a practical on-line identification problem of a technological flow for an accurate row materials dosage. The usage of the low performances existing computing resources is a sine-qua-non condition.
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