Adaptive Control of Manipulators via an Extension to the Error-Based Minimal Control Synthesis with Integral Action Algorithm

2007 ◽  
Author(s):  
K. Koganezawa ◽  
D. P. Stoten
Keyword(s):  
Adaptive Control ◽  
Control Synthesis ◽  
Integral Action

The error-based minimal control synthesis algorithm with integral action

2003 ◽  
Vol 217 (3) ◽  
pp. 187-201 ◽  
Author(s):  
D P Stoten ◽  
S A Neild
Keyword(s):  
Closed Loop ◽  
Control Synthesis ◽  
Closed Loop System ◽  
Synthesis Algorithm ◽  
The Core ◽  
Gain Term ◽  
Integral Action ◽  
Implementation Studies ◽  
Hyperstability Theory ◽  
Integral Gain

This paper presents a new form of the direct adaptive minimal control synthesis (MCS) algorithm. As its name suggests, the error-based minimal control synthesis with integral action (Er-MCSI) algorithm is solely driven by error signals that are generated within the closed-loop system, and contains an explicit integral gain term. The purpose of this new structure is, respectively, to remove the problem of variable adaptive effort with changes in the operating set point, and to remove gain ‘wind-up’ effects due to plant disturbances and signal offsets. The core of this paper contains a proof of stability for Er-MCSI, based on hyperstability theory, together with supporting simulation and implementation studies.

scholarly journals Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 1851-1865
Author(s):  
Nur Afande Ali Hussain ◽  
Syed Saad Azhar Ali ◽  
Mark Ovinis ◽  
Mohd Rizal Arshad ◽  
Ubaid M. Al-Saggaf
Keyword(s):  
Adaptive Control ◽  
Control Synthesis ◽  
Nonlinear Adaptive Control ◽  
Marine Robotics

Adaptive Control of a Surface Ship at High Speed Using Neural Networks

2012 ◽  
Vol 571 ◽  
pp. 518-523
Author(s):  
Li Dong Guo ◽  
Li Xin Yang
Keyword(s):  
Adaptive Control ◽  
High Speed ◽  
Synthesis Method ◽  
Control Synthesis ◽  
Lyapunov Theorem ◽  
Nonlinear Characteristics ◽  
Surface Ship ◽  
Hydrodynamic Damping ◽  
Control Scheme ◽  
The Stability

An adaptive control synthesis method is considered, which forces a surface ship at high speed to track a desired path. The nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, the unknown part of the tracking dynamics system is approximated by neural network. The stability analysis will be given by Lyapunov theorem. Numerical simulations illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme.

A Minimal Controller Synthesis Algorithm for Narrow-Band Applications

2005 ◽  
Vol 219 (8) ◽  
pp. 591-607 ◽  
Author(s):  
A J Hillis ◽  
S A Neild ◽  
D P Stoten ◽  
A J L Harrison
Keyword(s):  
Vibration Isolation ◽  
Narrow Band ◽  
Broad Band ◽  
Control Synthesis ◽  
Error Signal ◽  
Engine Mounts ◽  
Common Control ◽  
Integral Action ◽  
Active Vibration ◽  
And Performance

A common control problem is that of reducing a narrow-band error signal or a narrow-band component of a broad-band error signal. The particular application described in this paper is that of active vibration isolation for automotive vehicles. The error-driven minimal control synthesis (Er-MCSI) algorithm with integral action has been applied to this problem, but is known to exhibit gain windup. The nature of the gain windup phenomenon is investigated and methods to mitigate its effects are discussed. A new controller, the narrow-band MCS (NBMCS), is developed specifically for narrow-band applications. NBMCS is based upon Er-MCSI and exploits the deterministic nature of the system disturbance. The NBMCS algorithm is shown not to suffer from the gain windup problem. The properties and performance of the Er-MCSI and NBMCS controllers are compared analytically, via simulation and experimental application, to an automotive vehicle equipped with active engine mounts.

Integral action in robust adaptive control

1989 ◽  
Vol 34 (10) ◽  
pp. 1082-1085 ◽  
Author(s):  
A. Feuer ◽  
G.C. Goodwin
Keyword(s):  
Adaptive Control ◽  
Robust Adaptive Control ◽  
Integral Action ◽  
Robust Adaptive

An Aircraft Adaptive Control Architecture Based on Nominal Controller

2012 ◽  
Vol 490-495 ◽  
pp. 105-109
Author(s):  
Bo Zhang ◽  
Shu Shan Wang
Keyword(s):  
Adaptive Control ◽  
Actuator Saturation ◽  
Transport Model ◽  
Adaptive Controller ◽  
Operating Conditions ◽  
Control Architecture ◽  
Nonlinear Dynamic Model ◽  
Transport Aircraft ◽  
Adverse Conditions ◽  
Integral Action

This paper presents adaptive control architecture for the safe flight of a transport aircraft under adverse operating conditions and uncertainties. This architecture combines a nominal controller based on an LQR with integral action, and an adaptive controller that accommodates for actuator saturation and disturbances. In this paper, we consider the control of the C-5 transport aircraft, which is similar to the Generic Transport Model. We delineate the underlying nonlinear dynamic model and introduce various upsets, damages, and failures by representing these various adverse conditions in the form of uncertainties.

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