Variable structure robust adaptive control with unmodelled dynamics

2002 ◽  
Author(s):  
Lin Yan ◽  
Zhang Jie ◽  
Mao Jianqin
Keyword(s):  
Adaptive Control ◽  
Variable Structure ◽  
Robust Adaptive Control ◽  
Robust Adaptive

Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 623-650 ◽  
Author(s):  
H. Yu
Keyword(s):  
Adaptive Control ◽  
High Performance ◽  
Robot Manipulators ◽  
Variable Structure ◽  
Robust Adaptive Control ◽  
Variable Structure Systems ◽  
Control Approach ◽  
Robust Adaptive ◽  
And Control ◽  
Uncertainty Environment

The paper addresses the robust adaptive control problem of robot manipulators. The dynamic equations of robot manipulators and their fundamental properties that facilitate analysis and control system design are first reviewed. Then the direct, indirect, and combined direct and indirect adaptive control approaches of robot manipulators are presented. After that, a number of variable structure adaptive control approaches which combines features of the robust design based on variable structure systems with parameter adaptive control, are studied. After that, a new combined adaptive and variable structure adaptive control approach is proposed for the tracking control of robot manipulators under the uncertainty environment. This is a robust, high-performance adaptive control scheme that combines the advantages and overcomes the disadvantages of both types of techniques. Finally, the extensive comparing simulation results are presented to demonstrate the theory study.

An Efficient Robust Adaptive Control Law For Robot Manipulators

1996 ◽  
Vol 210 (4) ◽  
pp. 363-372 ◽  
Author(s):  
H Yu ◽  
S Lloyd
Keyword(s):  
Adaptive Control ◽  
Variable Structure ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Computationally Efficient ◽  
Structure Control ◽  
Robust Adaptive ◽  
The Stability ◽  
Adaptive Control Algorithm ◽  
Adaptive Control Law

A computationally efficient robust adaptive control algorithm is proposed in this paper. The regressors are implemented using the desired trajectories to replace the actual trajectories in order to reduce the computational burden. To reduce the disturbance introduced by this replacement, an adaptive variable structure control law is proposed. The proposed adaptive control law results in a system that is robust to bounded input disturbances. A small modification of the control law makes the system robust to more general input disturbances. The stability analysis is in the Lyapunov sense. Simulation results demonstrate the validity of the proposed scheme.

Robust adaptive control for a class of nonlinear switched systems using state-dependent switching

2021 ◽  
Vol 3 (3) ◽  
Author(s):  
Naeimadeen Noghredani ◽  
Naser Pariz
Keyword(s):  
Adaptive Control ◽  
Switched Systems ◽  
Variable Structure ◽  
Robust Adaptive Control ◽  
Linear Matrix ◽  
Switching Rule ◽  
Nonlinear Switched Systems ◽  
State Dependent ◽  
Robust Adaptive ◽  
The Stability

AbstractThis paper presents a novel adaptive control for a class of nonlinear switched systems by introducing a sufficient condition for stabilization. Based on the possible instability of all sub-systems, a variable structure (VS) switching rule with an adaptive approach and sliding sector was offered. Moreover, the stability condition of the system can be determined by solving linear matrix inequalities (LMIs) to ensure asymptotic stability. The application of H∞ analysis of nonlinear switched systems was also investigated through the design of the mentioned adaptive control system and defining a VS switching rule. Finally, simulation results were presented to validate the novelty of the proposed method.

Robust Adaptive Control Design for Vehicle Lane Keeping Assist

2007 ◽  
Author(s):  
Liang-Kuang Chen ◽  
Liang-Chi Lin
Keyword(s):  
Adaptive Control ◽  
Driving Simulator ◽  
Reference Model ◽  
Variable Structure ◽  
Structure Design ◽  
Robust Adaptive Control ◽  
Structure Model ◽  
Robust Adaptive ◽  
Lane Keeping ◽  
Model Reference Adaptive

A variable structure model reference adaptive control that can compensate parametric variation for systems with input delay is applied to the design of vehicle steering assist. The controller includes a predictor to counteract the effect of the delay, and can enhance the robustness due to the variable structure design, and is therefore an attractive choice to compensate driver behavior variation. Preliminary simulation study indicates that this design successfully compensate the system to track the reference model. Driving simulator experiments are currently in progress to verify the design with human drivers.

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