Adaptive output feedback control of nonlinear systems with nonlinear parameterization: A dwell-time-switching based multiple model adaptive control approach

2010 ◽  
Author(s):  
Weitian Chen ◽  
Brian D O Anderson
Keyword(s):  
Adaptive Control ◽  
Output Feedback ◽  
Dwell Time ◽  
Output Feedback Control ◽  
Multiple Model ◽  
Time Switching ◽  
Control Approach ◽  
Nonlinear Parameterization ◽  
Adaptive Output Feedback Control ◽  
Multiple Model Adaptive Control

scholarly journals Congestion Control Based on Multiple Model Adaptive Control

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Xinhao Yang ◽  
Ze Li
Keyword(s):  
Adaptive Control ◽  
Congestion Control ◽  
Output Feedback ◽  
Control Method ◽  
Feedback Controller ◽  
Multiple Model ◽  
Network Condition ◽  
Output Feedback Controller ◽  
Weight Calculation ◽  
Multiple Model Adaptive Control

The congestion controller based on the multiple model adaptive control is designed for the network congestion in TCP/AQM network. As the conventional congestion control is sensitive to the variable network condition, the adaptive control method is adopted in our congestion control. The multiple model adaptive control is introduced in this paper based on the weight calculation instead of the parameter estimation in past adaptive control. The model set is composed by the dynamic model based on the fluid flow. And three “local” congestion controllers are nonlinear output feedback controller based on variable RTT, H2output feedback controller, and proportional-integral controller, respectively. Ns-2 simulation results in section 4 indicate that the proposed algorithm restrains the congestion in variable network condition and maintains a high throughput together with a low packet drop ratio.

Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC

2015 ◽  
Vol 27 (5) ◽  
pp. 461-468 ◽  
Author(s):  
Taro Takagi ◽  
◽  
Ikuro Mizumoto ◽  
Junpei Tsunematsu ◽  
◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Adaptive Control System ◽  
Controlled System ◽  
Direct Design ◽  
Adaptive Output Feedback Control ◽  
A Performance

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/01.jpg"" width=""300"" /> Block diagram of proposed control</div> An adaptive control system is configured simply by output feedback when the controlled system is almost strictly positive real (ASPR). ASPR conditions are, however, very severe restrictions for actual systems. The parallel feedforward compensator (PFC), which is designed for making augmented controlled system ASPR, has been proposed to solve this problem. We propose a performance-driven adaptive output feedback control system with a PFC designed via direct design. Our proposed adaptive control system is to be used for systems whose properties change during operation. Our PFC’s direct design uses the system’s input/output data and readjusts output feedback gain based on a performance index. The effectiveness of the proposed method is confirmed through experiments using liquid level control for the two-tank process system. </span>

ADAPTIVE CONTROL OF RECURRENT TRAJECTORIES BASED ON LINEARIZATION OF POINCARÉ MAP

2000 ◽  
Vol 10 (03) ◽  
pp. 621-637 ◽  
Author(s):  
ALEXANDER FRADKOV ◽  
PETER GUZENKO ◽  
ALEXEY PAVLOV
Keyword(s):  
Adaptive Control ◽  
Feedback Control ◽  
Computer Simulations ◽  
Output Feedback ◽  
Chaos Control ◽  
Poincaré Map ◽  
Control Method ◽  
Output Feedback Control ◽  
Poincare Map ◽  
Adaptive Output Feedback Control

The problem of adaptive output feedback control aimed at stabilization of a (periodic or chaotic) goal trajectory is considered. Advantages and drawbacks of chaos control method based on linearization of Poincaré map (first proposed by Ott, Grebogi and Yorke in 1990) are discussed. It is suggested that the recurrence of the goal trajectory is the key property for applicability of approach. Algorithms of adaptive control based on linearization of controlled Poincaré map and method of goal inequalities are proposed. It is shown that stabilization of recurrent trajectories is possible under additional controllability-like and observability-like conditions. Examples of stabilization of periodic and chaotic trajectories for forced brusselator and Rössler systems are studied by computer simulations.

Experimental results for output feedback adaptive robot control

Robotica ◽  
2006 ◽  
Vol 24 (6) ◽  
pp. 727-738 ◽  
Author(s):  
John M. Daly ◽  
Howard M. Schwartz
Keyword(s):  
Adaptive Control ◽  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Robotic Manipulators ◽  
High Gain ◽  
Experimental Results ◽  
Position Information ◽  
High Gain Observer ◽  
Adaptive Output Feedback Control

This paper examines three methods of adaptive output feedback control for robotic manipulators. Implementing output feedback control allows use of only the position information, which can be measured quite accurately. Velocity and acceleration measurements can get corrupted by noise. A method proposed by K. W. Lee and H. K. Khalil [Adaptive output feedback control of robot manipulators using high-gain observer, Int. J. Control, 6, 869–886 (1997)] using a high-gain observer, one proposed by J. J. Craig, P. Hsu and S. S. Sastry [Adaptive control of mechanical manipulators, Int. J. Robot. Res., 6(2), 16–27 (1987)] with the addition of a linear observer that we propose, and a method proposed by R. Gourdeau and H. M. Schwartz [Adaptive control of robotic manipulators: Experimental results, Proceedings of the 1991 IEEE International Conference on Robotics and Automation (Apr. 1991) pp. 8–15] using an Extended Kalman Filter are examined. The methods are implemented in simulation and experimentally on a direct-drive robot. The performance of each of the algorithms is compared.

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