An efficient robust adaptive controller for robotic arms in the presence of time-varying parameters

1994 ◽  
Vol 25 (6) ◽  
pp. 1067-1079
Author(s):  
CHUN-YI SU ◽  
Y. STEPANENKO
Keyword(s):  
Adaptive Controller ◽  
Time Varying ◽  
Robotic Arms ◽  
Varying Parameters ◽  
Time Varying Parameters ◽  
Robust Adaptive ◽  
Robust Adaptive Controller

scholarly journals Adaptive Hybrid Function Projective Synchronization of Chaotic Systems with Time-Varying Parameters

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Jinsheng Xing
Keyword(s):  
Chaotic Systems ◽  
Projective Synchronization ◽  
Time Varying ◽  
Chen System ◽  
Varying Parameters ◽  
Function Projective Synchronization ◽  
Time Varying Parameters ◽  
Hybrid Function ◽  
Robust Adaptive ◽  
Different Chaotic Systems

The adaptive hybrid function projective synchronization (AHFPS) of different chaotic systems with unknown time-varying parameters is investigated. Based on the Lyapunov stability theory and adaptive bounding technique, the robust adaptive control law and the parameters update law are derived to make the states of two different chaotic systems asymptotically synchronized. In the control strategy, the parameters need not be known throughly if the time-varying parameters are bounded by the product of a known function oftand an unknown constant. In order to avoid the switching in the control signal, a modified robust adaptive synchronization approach with the leakage-like adaptation law is also proposed to guarantee the ultimately uni-formly boundedness (UUB) of synchronization errors. The schemes are successfully applied to the hybrid function projective synchronization between the Chen system and the Lorenz system and between hyperchaotic Chen system and generalized Lorenz system. Moreover, numerical simulation results are presented to verify the effectiveness of the proposed scheme.

Adaptive Control of Mechanical Systems With Time-Varying Parameters and Disturbances

2004 ◽  
Vol 126 (3) ◽  
pp. 520-530 ◽  
Author(s):  
Prabhakar R. Pagilla ◽  
Yongliang Zhu
Keyword(s):  
Adaptive Control ◽  
Finite Length ◽  
Mechanical Systems ◽  
Adaptive Controller ◽  
Projection Algorithm ◽  
Time Interval ◽  
Time Varying ◽  
Varying Parameters ◽  
Time Varying Parameter ◽  
Time Varying Parameters

A new adaptive control algorithm for mechanical systems with time-varying parameters and/or time-varying disturbances is proposed and investigated. The proposed method does not assume any structure to the time-varying parameter or disturbance. The method is based on the expansion of the time-varying parameter/disturbance using Taylor’s formula. This facilitates expanding a time-varying function as a finite length polynomial and a bounded residue. The coefficients of the finite-length polynomial are estimated in a small time interval so that they can be assumed to be constant within that interval. A gradient projection algorithm is used to estimate the parameters within each time interval. Stability of the proposed adaptive controller is shown and discussed. A novel experiment is designed using a two-link planar mechanical manipulator to investigate the proposed algorithm experimentally. Results of the proposed adaptive controller are compared with an ideal nonadaptive controller that assumes complete knowledge of the parameters and disturbances. A representative sample of the experimental results is shown and discussed.

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