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This paper presents the application of adaptive control to PWM Dc-to-Dc Converter Operating in Continuous Conduction Mode. The system under study is a buck-boost with parasitic as non linear and variable structure plant. First the model of converter is discussed; the non linearity is handled with state space averaged modeling into the linear time-varying representation; one adopted consequently an...
In this paper, we propose a design methodology for the tracking of spacecraft attitude. The plant (spacecraft model) is a second order nonlinear multi-input-multi-output system. We stabilize the plant using state feedback. The stability of the closed-loop is assured using a Lyapunov function. Then the step response of the closed-loop system is used to design PID controller using standard classical...
An adaptive control algorithm for the elimination of torque and velocity ripples in the alternating current (AC) permanent magnet (PM) motor control systems is presented in this paper. A model of AC PM motor system includes n sinusoidal disturbances is first developed. The internal model principle (IMP) is then applied to design a controller to eliminate the torque and velocity ripples without estimating...
Intelligent schedules has gained attention in manufacture environments due to increase competence. In this paper an intelligent adaptive discrete control is applied to a practical milling system in order to minimize process malfunctions. Two hierarchical supervisory levels compose the control: tuning and switching. The continuous unknown milling transfer function is discretized under a set of fractional...
This work deals with the problem of force regulation and position trajectory tracking for a robot in compliant contact under kinematic uncertainties. A robotic finger with a soft hemispherical tip of uncertain compliance is considered in contact with a rigid flat surface of unknown position and orientation. A novel adaptive controller is proposed and is proved to achieve the convergence of force and...
We demonstrate, using Monte-Carlo simulations, the robust performance of the adaptive control methodology denoted by RMMAC/XI introduced and discussed (Fekri and Athans, 2006 and 2005). The RMMAC/XI architecture can handle simultaneous time-variations in the plant uncertain parameters as well as the disturbance intensity statistics. We compare the RMMAC/XI performance vs that of the best possible...
In the present paper optimal boundary control problem for a class of distributed parameter systems of parabolic type is considered. The simplified adaptive critic methodology is applied for the optimal control synthesis. The methodology requires the distributed parameter system to be reduced to lumped parameter system, as well as to be subsequently discretized. The approximation to finite-dimensional...
We demonstrate, using Monte-Carlo simulations, the superior performance of the "Robust Multiple- Model Adaptive Control (RMMAC)" method for different time-varying uncertain parameter waveforms, performance bandwidths and constant disturbance intensities using the test example designed and studied in Refs. [1] and [2]. We further show that the RMMAC RMS performance is just about 10-16% worse...
A robust adaptive sliding control scheme is developed to achieve the synchronization problem for two identical chaotic systems in the presence of uncertain system parameters, external disturbances and nonlinear control inputs. An adaptation algorithm is given based on the Lyapunov stability theory. Using this adaptation technique to estimate the upper-bounds of parameter variation and external disturbance...
In this paper we propose a new adaptive critic scheme for finding on-line the state feedback, infinite-horizon, optimal control solution of linear continuous-time systems using only partial knowledge regarding the system dynamics, i.e. no knowledge regarding the system A matrix is needed. This is in effect an adaptive control scheme for partially unknown systems that converges to the optimal control...
This paper presents three methods to enhance a recent time-varying adaptive control strategy - funnel-control. The proportional time-varying controller is capable to control a wide range of nonlinear systems with e.g. hysteresis or dead time effects. The gain is adjusted by weighting the distance between the actual control error and the predefinable (decreasing) funnel boundary - the desired limit...
In this paper we design two controllers: a sliding mode controller and a new designed adaptive controller for an under actuated process with important dry friction. The two controllers are compared. Simulations and experiments are performed to evaluate the efficiency of the designed controllers.
Nearly any industrial plant inheres saturated control inputs, this nonlinearity may cause undesired control performance or even destabilization of funnel-control - a recent adaptive (time-varying) control strategy for a wide class of nonlinear systems. This paper introduces an online compensation of the control input saturation. To compensate the negative saturation effects, the Funnel boundary -...
The problem of control law design for a system consisting of linear stationary and static nonlinear parts is considered. It is supposed that parameters of the linear block are unknown, and its input-to-output transfer function is minimum phase. It is assumed that nonlinear part of the system is known inaccurately, irreducible to the linear block input and, generally, does not satisfy sector restrictions...
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