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This paper presents a voltage control strategy for a DC load powered by a three phase inverter connected to a Permanent Magnet Synchronous Generator (PMSG). The DC load consists of a DC capacitor in parallel with the inverter and the unknown current load. The control strategy is designed based on Simple Adaptive Control (SAC) technique. The structure is a cascade controller designed in rotor reference...
This paper presents a new control law for three-dimensional path following of underactuated autonomous underwater vehicles (AUV). The kinematic controller based on the Serret-Frenet frame is firstly designed, which is convenient to describe the track errors. It also overcomes the stringent initial condition constraints by introducing virtual target. Moreover, the dynamic controller based on Lyapunov...
A design of a feed-forward-based fractional-order model reference adaptive control (FO-MRAC) compensator using a modified MIT rule to control a DC-DC boost converter is presented in this work. As the plant is non-minimum phase, an implementation of the so-called parallel feed-forward configuration is required to make the plant satisfy ASPR (almost strictly positive real) conditions that in turn, allows...
This paper proposes an adaptive control for a rigidlink, flexible-joint robot using the Cerebellar Model Articulation Controller (CMAC) and the backstepping method, which is a suitable method when joints are underdamped and exhibit a large amount of flexibility. A previously proposed robust weight update method, deemed the introspective method, is placed into a Lyapunov-stable framework. In the introspective...
This work proposes a modification to the Cerebellar Model Articulation Controller (CMAC) for use in a direct adaptive control scheme. With the original CMAC, when an oscillation in the input occurs between two CMAC cells and across the origin, the weights in the adjacent cells drift in opposite directions — resulting in control signal chatter. When the chatter is severe it can cause a sudden increase...
A constructive adaptive robust controller of mechanical systems with unknown parameters and external disturbances from different channels was proposed based on their stochastic Hamiltonian realization. First, we put forward an energy-based adaptive robust controller for stochastic nonlinear systems which can be formulated as dissipative Hamiltonian systems. Then, we transformed the considered stochastic...
This work presents a dead-time compensation technique for robust predictive current control of grid-connected voltage source inverter. Among current controls, dead-beat predictive controllers are one of the fastest, but are extremely sensitive to inconsistencies between the model and the actual plant. Dead-time modifies the plant model and is one of the main sources of distortion in high dynamic range...
This paper considers the robust consensus problem of Lipschitz nonlinear multi-agent systems with matched disturbances and time-delay dynamics. By LMI approach based on Lyapunov function, distributed adaptive protocols are proposed, which rely on the state information of neighbor agents. Theoretical analysis indicates that the proposed protocol achieve both the leaderless and leader-following consensus...
The Cerebellar Model Articulation Controller (CMAC) is a type of neural network particularly suited to real-time control applications due to fast adaptation and the ability to handle many inputs. However, the CMAC is well-known to exhibit weight (adaptive-parameter) drift when used in adaptive control, and overlearning when applied in static learning situations. A weight smoothing algorithm originally...
Disturbance Feedback Control (DFC) is a technique in which an existing controller is augmented with an additional loop. It was originally proposed by Fuji Electric in 1980, and has been applied in Factory Automation (FA). This paper proposes a robust DFC including the anti-windup controllers for process control. The proposed method is designed in two steps; firstly, the robust DFC without saturation...
Input shaping is an open-loop command shaping method that has been used on a wide variety of flexible systems. It has been shown to be particularly useful in the control of cranes. However, most previous research on the use of input shaping has been limited to rest-to-rest commands. Because input shaping is open-loop, it is inherently incapable of eliminating existing, unknown vibration in a system...
Control systems that are resilient against malicious attacks have recently become one of the important research topics. This is due to the fact that many critical infrastructures in our society such as power grid, nuclear facility, and public transportation, rely on feedback control technology, and that malfunction of said systems due to attack could be disastrous. Malicious attacks on control systems...
In this paper, we present a robust pole placement control scheme that can be used to control a wide class of linear and time invariant systems with unknown parameters, including nonminimum phase systems, using only plant input and output signals. We assume that the unknown plant parameters has known bounds, i.e., the control scheme is designed for an interval plant whose coefficients are closed intervals...
This paper is concerned with the distributed control for robust output regulation of multi-agent systems(MASs) with adaptive event-triggered mechanism. A novel distributed adaptive control law based on output feedback is developed, which can avoid using the minimal nonzero eigenvalue of Laplacian matrix associated with global system topology and reduce the frequency of data transmission. It is shown...
A modular approach of the estimation-based design in the adaptive linear control systems has been extended to the adaptive robust control of strict-feedback stochastic nonlinear systems with additive standard Wiener noises and constant unknown parameters. Using Itô differentiation rule, nonlinear damping and adaptive Backstepping procedure, the disturbance-to-state stable controller of global stabilization...
Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are investigated. Firstly, using the adaptive updating mechanism, a fully distributed time-varying formation control protocol is proposed. The protocol is determined by each agent in a fully distributed form and does not need any global information...
The robust adaptive control of uncertain system with unknown time-varying control coefficient is discussed. A novel output sampled control scheme based on characteristic model with neural network estimator is proposed. The design of the control scheme includes characteristic modeling, estimation for the characteristic parameters, and characteristic model-based adaptive control. The estimation method...
In this paper, we concentrate on the problem of attitude tracking control with guaranteed transient performance for a rigid spacecraft subject to unknown inertia properties and exogenous disturbances. A promising solution to the problem under consideration is presented. Specifically, certain performance functions specified a priori by the designer are first introduced to impose desired transient and...
Considering that the hypersonic vehicle is fast time-varying, high nonlinear and strong coupled, which makes designing a well performed controller rather difficult, this paper proposes an attitude control method based on exact feedback linearization control and characteristic model adaptive control to ensure the stability of the control system. Firstly, a nonlinear coupled dynamic model for the hypersonic...
Design of spinning projectile autopilot is a challenge due to uncertain aerodynamics, and stringent performance requirements. To solve the control challenge for such state inaccessible plant, a robust output feedback adaptive controller is designed for a double-channel controlled spinning projectile in this paper. The first step towards the solution is the development of the dynamic model for the...
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