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Maximum Torque Per Ampere (MTPA) tracking techniques for the control of Interior Permanent Magnet Synchronous Machines (IPMSMs) and Synchronous Reluctance Machine (SynRMs) drives were introduced in the last decade, with the aim of overcoming the dependence on motor parameter knowledge accuracy. In fact, uncertainty due to identification errors, magnetic saturation or temperature variation results...
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...
An adaptive tracking control is proposed for a class of constrained nonlinear systems with hysteresis and uncertainty. Hysteresis and uncertainty may limit system performance such as giving rise to undesirable accuracy or oscillations, even leading to instability. First, Bouc-Wen model is used to describe the hysteresis, and the upper bound is derived. Then, a Barrier Lyapunov Function (BLF) is adopted...
To reduce the effects of modeling imprécisions, in the traditional “Receding Horizon Control” that works with finite horizon lengths, in the consecutive horizon-length cycles, the actually measured state variable is used as the starting point in the next cycle. In this design, within a horizon-length cycle, a cost function is minimized under a constraint that mathematically represents the dynamic...
This paper presents a design methodology for the rejection of wind gusts during flight. The proposed application is based on the Simple Adaptive Controller (SAC) methodology, but differs from other SAC applications in the sense that the reference model utilised is an Unknown Input Observer (UIO). As a consequence, the adaptive controller is fed by an estimate of the wind gust and will only act in...
This paper introduces the planning algorithm Sa-feRRT, which extends the rapidly-exploring random tree (RRT) algorithm by using feedback control and positively invariant sets to guarantee collision-free closed-loop path tracking. The SafeRRT algorithm steers the output of a system from a feasible initial value to a desired goal, while satisfying input constraints and non-convex output constraints...
The paper concerns the development of a adaptive sliding mode control based on super twisting (ASTW) and can be applied to a Human-Driven Knee Joint Orthosis. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. The main objective of this paper is to bring together two approaches to reduce the phenomenon of chattering, adaptation...
This paper presents an L1 adaptive control system for the attitude stabilization of a spacecraft with flexible appendages. The spacecraft model includes uncertain parameters as well as external disturbance torques. The modified Rodrigues parameters are used here to describe the orientation of the spacecraft. The objective is to control the three attitude angle trajectories to the origin, using control...
In quantum state transfer and tracking, control of quantum states are effective against decoherence caused by external environment and information processing. In this paper, utilizing model reference adaptive control theory and Lyapunov stability theorem, we derive the adaptive law for the model reference adaptive system. Then we design the Lyapunov control law by double control functions and we investigate...
In this paper, a control system architecture for control of non-affine in control, open-loop unstable underactuated system is discussed. Passivization of the unactuated (internal) system dynamics achieved through perturbation of trajectories of the actuated states, which are calculated through adaptive dynamic inversion technique, based on Tikhonov's theorem. Performance of the controller is shown...
In this paper, fully distributed time-varying formation tracking problem for general linear time-invariant (LTI) multi-agent systems is investigated by using an adaptive-based approach. The communication topology is a spanning tree in which a leader's output is available to only a subset of the agents (followers) among which the communication is undirected. The followers can form a time-varying formation...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
It is found that adding a constraint linear motion on the surface normal vector of current workpiece point can make robot set up an adaptive machining method. In this way, a constraint motion according with a machining process is realized in the finite space. The scientific problems are how to quantitatively describe the law of the special motion and simplify the multi-coupling relationship caused...
This paper proposes an optimal tracking control of completely unknown affine nonlinear systems using a system augmentation scheme and a modified discounted performance function, where the feedforward and feedback control actions can be obtained simultaneously. We first present an adaptive identifier to estimate the unknown dynamics, where the estimated parameters are updated based on a new adaptive...
This paper investigates the problem of attitude stabilization for a rigid body subject to external disturbance with unknown bound. A fixed-time based finite time controller is proposed to guarantee that the closed-loop system gets stable in fixed time, which means the bound of the settling time is independent of the initial conditions. Moreover, the adaptive method is adopted to deal with the external...
Velocity field control (VFC) is an alternative approach for motion control of robotic systems. It has advantages over the trajectory tacking problem when the timing in the desired task is of less importance in the application of interest. Recently, this control strategy has been emerged as a promising control method in robot-aided rehabilitation. Therefore, this paper addresses the problem of VFC...
In this paper, decentralized adaptive control is investigated for a class of discrete-time nonlinear hidden leader-follower multi-agent systems. Different from the conventional leader-follower multi-agent system, among all the agents, there exists a hidden leader that knows the desired reference trajectory, while the follower agents know neither the desired reference signal nor who is a leader. The...
Based on the concept of persistent excitation (PE), a deterministic learning algorithm is proposed for neural network (NN)-based identification of nonlinear systems recently. This paper investigates the quantitative relationship between the PE levels (including the level of excitation), the architectures of NNs and the convergence properties of deterministic learning, which is motivated by a practical...
We address the challenge to allow efficient autonomous flight in real world environments, both indoor and outdoor. We use a straight-line SE-SCP to find an initial route through the environment and minimum snap trajectory generation using piecewise polynomials. Then, we implement an adaptive robust control able to address some robustness issues for quadrotors in outdoor flight, such as mass variation...
The output tracking control problem is considered for a class of uncertain nonlinear systems with time delays and dead-zone inputs. A simple design method is proposed so that a class of adaptive robust output tracking control laws can be synthesized. In particular, the synthesized controllers have a rather simple structure, and can be easily realized in practical engineering control systems. In this...
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