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Adaptive output feedback control design with adaptive parallel feedforward compensator and feedforward input via kernel method for nonlinear system

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IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING 2021年第10期16卷 1378-1389页

作者： Akaike, Kota Mizumoto, Ikuro Kumamoto Univ Grad Sch Sci & Technol Chuo Ku 2-39-1 Kurokami Kumamoto 8608555 Japan Kumamoto Univ Fac Adv Sci & Technol Chuo Ku 2-39-1 Kurokami Kumamoto 8608555 Japan

It is well recognized that an adaptive output feedback control based on almost strictly positive real-ness (ASPR) or output feedback strictly passivity (OFSP) property of the system has strong robustness with respect to disturbances and uncertainty. However, most practical systems do not have such properties. In order to realize an augmented ASPR system for designing adaptive output feedback controller, a kind of adaptive parallel feedforward compensator (PFC) design schemes have been proposed for linear systems. In this paper, we propose an adaptive PFC design scheme by Kernel method for nonlinear systems and provide output feedback passivity based adaptive output feedback control for nonlinear systems. The effectiveness of the proposed method will be confirmed through numerical simulations. (c) 2021 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

关键词： adaptive output feedback control T-S fuzzy model nonlinear systems parallel feedforward compensator kernel method

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Null-space-based steady-state tracking error compensation of simple adaptive control with parallel feedforward compensator and its application to rotation control

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CONTROL ENGINEERING PRACTICE 2020年 105卷 104651-104651页

作者： Sato, T. Fujita, K. Kawaguchi, N. Takagi, T. Mizumoto, I Univ Hyogo Grad Sch Engn Dept Mech Engn 2167 Shosha Himeji Hyogo 6712280 Japan Maizuru Coll Natl Inst Technol Dept Control Engn Kyoto Japan Kumamoto Univ Dept Intelligent Mech Syst Kumamoto Japan

In the design of simple adaptive control (SAC) using almost strictly positive real (ASPR), the feedback control system is stabilized by the output feedback with a high gain. Although ASPR is not, however, generally satisfied, it is achieved by introducing a parallel feedforward compensator (PFC). When SAC is designed for the augmented system which consists of an actual plant and PFC, not the actual plant output but the augmented system output converges to the reference input because of the influence of PFC. To resolve the problem, an extension method of the conventional SAC is proposed. In the proposed method, based on the null-space of an augmented plant, an exogenous input, which is independent of the augmented system output, is newly introduced. Because the exogenous input is designed so that PFC output is to be 0, the actual plant output is the same as the augmented system output in the steady state, and as a result, the actual plant output converges to the reference input. From a practical application point of view, the proposed method can easily improve the control performance of the conventional SAC with a PFC. In the proposed method, an exogenous input generated as the feedback signal of PFC output is only added to the conventional SAC control input. Therefore, the proposed method can be applied to various field in which the SAC method has been implemented, e.g., process control, mechanical systems, power systems, robotics, and others. In the present study, the effectiveness of the proposed method is also demonstrated through experiments for a motor control.

关键词： Simple adaptive control Almost strictly positive real parallel feedforward compensator Redundant input Null-space Rotation control

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Adaptive Output Feedback based Output Tracking Control with Adaptive parallel feedforward compensator

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IFAC-PapersOnLine 2017年第1期50卷 5319-5325页

作者： Mizumoto I. Kawabe N. Faculty of Advanced Science and Technology Kumamoto University Kumamoto Japan Department of Mechanical System Eng. Kumamoto University Kumamoto Japan

This paper deals with an almost strictly positive real (ASPR) based adaptive output tracking control system design problem. A design scheme of adaptive output feedback based output tracking control system with an adaptively adjusting parallel feedforward compensator is proposed. For non-ASPR system, in order to guarantee the stability of the designed adaptive control system, a parallel feedforward compensator (PFC) is introduced and is adaptively adjusted for remaining the ASPR-ness of the resulting augmented system. Furthermore, an adaptive NN feedforward control is added to attain the output tracking. The stability of the resulting control system is analyzed theoretically and the effectiveness of the proposed method will be confirmed through numerical simulations. © 2017

关键词： ASPR output tracking parallel feedforward compensator Simple adaptive control

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Adaptive Output Feedback based Output Tracking Control with Adaptive parallel feedforward compensator

Adaptive Output Feedback based Output Tracking Control with ...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Mizumoto, Ikuro Kawabe, Nobuyuki Kumamoto Univ Fac Adv Sci & Technol Kumamoto Japan Kumamoto Univ Dept Mech Syst Engn Kumamoto Japan

关键词： Simple adaptive control ASPR parallel feedforward compensator output tracking

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Design of stable parallel feedforward compensator and its application to synchronization problem

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AUTOMATICA 2016年 64卷 208-216页

作者： Kim, Hongkeun Kim, Seongjun Back, Juhoon Shim, Hyungbo Seo, Jin Heon Korea Univ Technol & Educ Sch Mechatron Engn Cheonan 31253 South Korea Agcy Def Dev Daejeon 34188 South Korea Kwangwoon Univ Sch Robot Seoul 01897 South Korea Seoul Natl Univ Dept Elect & Comp Engn ASRI Seoul 08826 South Korea

This paper addresses the design problem of a stable parallel feedforward compensator V for a given SISO LTI plant P (possibly being of non-minimum phase and/or having relative degree greater than one). The objective of the problem is that their parallel interconnection P + V becomes minimum phase having relative degree one. Based on the classical results of simultaneous stabilization, a necessary and sufficient condition for solving the problem is presented as well as a design procedure for constructing such a compensator. The proposed feedforward compensator allows the control system to have the three useful features: (1) the ability that assigns the zeros of P + V to a region of complex numbers having arbitrary negative real parts, (2) infinite gain margin property of P + V controlled by a static output feedback, and (3) block diagonal structure of P +V. These features are extensively exploited in the synchronization problem of multi-agent systems to achieve arbitrary fast convergence rate and to have the synchronized trajectory independent of the initial conditions and parameters of the involved dynamic controllers. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： parallel feedforward compensator Non-minimum phase systems Multi-agent systems Synchronization

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Adaptive output feedback control system design for nonlinear systems via neural networks

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ELECTRONICS AND COMMUNICATIONS IN JAPAN 2024年第2期107卷 e12446-e12446页

作者： Li, Zhao Otakara, Nozomu Kato, Nozomu Mizumoto, Ikuro Kumamoto Univ Grad Sch Sci & Technol Kumamoto Japan Kumamoto Univ Fac Adv Sci & Technol Kumamoto Japan

Adaptive output feedback control based on output feedback exponential passivity (OFEP) has a simple structure and strong robustness in regard to disturbances and system uncertainties. However, it is difficult for most nonlinear systems to satisfy the conditions of OFEP. Thus, the introduction of a suitable parallel feedforward compensator (PFC) to construct an OFEP-augmented system with the controlled system has been used, but the control output cannot achieve perfect tracking because of the output of the introduced PFC. As a solution, introducing a feedforward (FF) input to build a 2 degree of freedom (2-DOF) is a simple and effective way to solve this problem. In this paper, we propose the design schemes for suitable PFC and FF input of nonlinear systems via the use of neural networks (NN), respectively. Besides, to cope with possibly present input disturbances, we also provide a method to achieve disturbance compensation based on NN to reduce their interference. Finally, the effectiveness of all proposed design schemes is confirmed through numerical simulations.

关键词： adaptive output feedback control disturbance compensation neural network output feedback exponential passivity parallel feedforward compensator two-degree-of-freedom control

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The design method of simple adaptive control system with PFC for MIMO system via DE

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SICE JOURNAL OF CONTROL MEASUREMENT AND SYSTEM INTEGRATION 2023年第1期16卷 75-83页

作者： Takagi, Taro Mizumoto, Ikuro Maizuru Coll Natl Inst Technol KOSEN Dept Control Engn Kyoto Japan Kumamoto Univ Fac Adv Sci & Technol Kumamoto Japan

This paper deals with a design method of adaptive output feedback control system with parallel feedforward compensator (PFC) for a multiple input multiple output system. An adaptive output feedback control system, which is based on almost strictly positive real (ASPR), requires PFC in most cases. The design method is using one-shot input/output data of the controlled system, and parameter optimization will be done by differential evolution (DE). By using DE, the designer can optimize the design parameters without trial and error, which can be a more practical method.

关键词： Adaptive output feedback control almost strictly positive real parallel feedforward compensator multiple input multiple output differential evolution

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parallel feedforward compensator Design via FRIT with T-S Fuzzy Like Model for Discrete-Time Adaptive Control Systems

Parallel Feedforward Compensator Design via FRIT with T-S Fu...

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Annual Conference of the Society-of-Instrument-and-Control-Engineers (SICE)

作者： Takagi, Taro Minehara, Komei Mizumoto, Ikuro Kumamoto Univ Grad Sch Sci & Technol Kumamoto Japan

ISBN: (纸本)9784907764401

This paper deals with a design problem of parallel feedforward compensator (PFC) via FRIT approach with T-S fuzzy like model data for discrete-time adaptive control systems. In order to obtain a desired PFC which realizes an ASPR augmented controlled system, PFC parameters are adjusted by the fictitious reference iterative tuning (FRIT) method so as to exist a feedback gain such that the output of the augmented closed loop system with the PFC track the output of the given SPR model by optimizing the performance function that consists of input-output data by T-S fuzzy like model.

关键词： Adaptive control ASPR parallel feedforward compensator FRIT

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Anti-Windup Predictive Control for an Engine Air Path System 16

Anti-Windup Predictive Control for an Engine Air Path System

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16th IFAC Symposium on Advanced Control of Chemical Processes (ADCHEM)

作者： Mizumoto, Ikuro Makimoto, Yusuke Kumamoto Univ Fac Adv Sci & Technol Kumamoto Japan Kumamoto Univ Dept Mech Syst Engn Kumamoto Japan

This paper deals with the control problem of an engine air path system with the air mass flow and EGR rate as the outputs and throttle valve and EGR valve as inputs. In the considered system, since the EGR response is slow compared with the response of the intake air mass, the overshoot and undershoot phenomena occur in fresh air mass flow during transient response. Moreover, the mechanical restriction of the valves opening range results in instability of the control system. In this paper, we propose an anti-windup predictive control taking into inputs restriction for air path system to improve transient performance and to maintain the stable air path system. Copyright (C) 2021 The Authors.

关键词： output predictor output predictive control parallel feedforward compensator anti-windup control

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Modelling and Output Predictive Control of Engine Air Path Systems for Intake Fresh-air and Exhaust Gas Recirculation 6th

Modelling and Output Predictive Control of Engine Air Path S...

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6th IFAC Conference on Engine Powertrain Control, Simulation and Modeling (E-COSM)

作者： Makimoto, Yusuke Hashimoto, Yuhki Kawamoto, Yuto Mizumoto, Ikuro Ohmori, Hiromitsu Kumamoto Univ Fac Adv Sci & Technol Kumamoto Japan Kumamoto Univ Dept Mech Syst Engn Kumamoto Japan Keio Univ Dept Syst Design Engn Yokohama Kanagawa Japan

This paper deals with the control problem of an engine air path system with low pressure exhaust gas recirculation (EGR). The considered air path system with low EGR can be modelled as a system with time-delays due to the transport delay of gas flow from EGR. It results in over intake fresh air, and thus it causes torque overshoot. An output predictive control system is designed for a time delay air path system in order to obtain the desired fresh air mass flow. In the considered system, the intake fresh air mass flow and the EGR rate are taken as the outputs, and the throttle valve and the EGR valve are considered as inputs of the system in this paper. A detailed air path system model with time-delay will also be derived for confirming the effectiveness of the proposed method through numerical simulations. Copyright (C) 2021 The Authors.

关键词： air-path system modelling air-path control output predictive control parallel feedforward compensator

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