Robust Adaptive Control for Hydraulic Servosystems

1996 ◽  
Vol 118 (2) ◽  
pp. 237-244 ◽  
Author(s):  
A. R. Plummer ◽  
N. D. Vaughan
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Controller Design ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Recursive Least Squares ◽  
Pole Placement ◽  
Line System ◽  
Self Tuning ◽  
Robust Adaptive

The application of an indirect (self-tuning) adaptive controller to an electro-hydraulic positioning system is described. The underlying control method is pole placement, with the addition of a demand filter to allow noise effects to be reduced without degrading closed-loop performance. Recursive least squares is used to estimate the plant parameters, but the data is pre-filtered to reduce bias. A novel covariance trace limiting algorithm provides estimator reliability despite periods of insufficient excitation. Off-line system identification is employed to help controller design for the electro-hydraulic servosystem. The resulting controller performs well, and adapts rapidly to changes in load stiffness and supply pressure.

Adaptive Control of Pressure Tracking for Polishing Process

2010 ◽  
Vol 132 (1) ◽  
Author(s):  
Liang Liao ◽  
Fengfeng Jeff Xi ◽  
Kefu Liu
Keyword(s):  
Adaptive Control ◽  
Contact Stress ◽  
Control Method ◽  
Minimum Degree ◽  
Adaptive Controller ◽  
Recursive Least Squares ◽  
Pole Placement ◽  
Polishing Process ◽  
Stress Theory ◽  
Self Tuning

In this paper, an adaptive controller is developed for the pressure tracking of the pressurized toolhead in order to maintain the constant contact stress for the polishing process. This is a new polishing control method, which combines the adaptive control theory and the constant stress theory of the contact model. By using an active pneumatic compliant toolhead, a recursive least-squares estimator is developed to estimate the pneumatic model, and then a minimum-degree pole-placement method is applied to design a self-tuning controller. The simulation and experiment results of the proposed controller are presented and discussed. The main advantage of the constant contact stress control is high figuring accuracy.

Comparison of Adaptive Control Techniques Applied to Diesel Engine Idle Speed Regulation

2002 ◽  
Vol 124 (4) ◽  
pp. 682-688 ◽  
Author(s):  
Douglas W. Memering ◽  
Peter H. Meckl
Keyword(s):  
Diesel Engine ◽  
Adaptive Controller ◽  
Minimum Variance ◽  
Recursive Least Squares ◽  
Pole Placement ◽  
Good Convergence ◽  
Idle Speed ◽  
Engine Model ◽  
Speed Regulation ◽  
Self Tuning

Two self-tuning adaptive algorithms are developed for a heavy-duty diesel engine in order to tune the idle governor to the specific parameters of a given engine. Engine parameters typically vary across engines and over time, thus causing potentially detrimental effects on engine idle speed performance. Self-tuning controllers determine the specific parameters of a given engine, and then adjust the controller algorithm accordingly. Recursive least squares is used to do the parameter identification, whose samples are synchronized with the discrete injection events of the diesel engine for good convergence. Both Minimum Variance and Pole Placement Self-Tuning Regulators are developed and simulated on the nonlinear diesel engine model. The results show successful tuning of each adaptive controller to the specific parameters of a given engine model, with parameter convergence occurring within 30 seconds.

scholarly journals Robust adaptive controller design for excavator arm

2019 ◽  
Vol 8 (4) ◽  
pp. 293
Author(s):  
Nga Thi-Thuy Vu
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Model Free ◽  
Lagrange Form ◽  
Robust Adaptive ◽  
The Stability ◽  
Robust Adaptive Controller

This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.

Robust Adaptive Control of Uncertain Nonlinear Systems With Time-Varying Input Delay

2017 ◽  
Author(s):  
W. X. Deng ◽  
J. Y. Yao
Keyword(s):  
Nonlinear Systems ◽  
Controller Design ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Input Delay ◽  
Time Varying ◽  
Uncertain Nonlinear Systems ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Adaptive Feedforward

In this paper, a robust adaptive controller is proposed for a class of uncertain nonlinear systems subject to time-varying input delay, parametric uncertainties and additive bounded disturbances. The desired trajectory based adaptive feedforward technique and a predictor-like robust delay compensating term are integrated via backstepping in the controller design. The proposed controller theoretically ensures semi-global uniformly ultimately bounded tracking performance based on Lyapunov stability analysis by employing Lyapunov-Krasovskii (LK) functionals. Simulation results are obtained to illustrate the effectiveness of the proposed control strategy.

Robust Adaptive Control of Antagonistic Tendon-Driven Joint in the Presence of Parameter Uncertainties and External Disturbances

2017 ◽  
Vol 139 (10) ◽  
Author(s):  
Hongqian Lu ◽  
Xu Zhang ◽  
Xianlin Huang
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Controller Design ◽  
Block Diagram ◽  
Viscous Friction ◽  
Robust Adaptive Control ◽  
Parameter Uncertainties ◽  
Closed Loop Systems ◽  
Nonlinear Tracking ◽  
Robust Adaptive

The design of nonlinear tracking controller for antagonistic tendon-driven joint has garnered considerable attention, whereas many existing control methodologies are impractical in the real-time applications due to complexity of computations. In this work, a robust adaptive control method for controlling antagonistic tendon-driven joint is mainly studied by combining adaptive control with mapping filtered forwarding technique. To enhance the robustness of the closed-loop systems, the true viscous friction coefficients are not needed to be known in our controller design. Typically, to tackle the problem of “explosion of complexity,” filters are introduced to bridge the virtual controls such that the controller is decomposed into several submodules. Mappings and their analytic derivatives are computed by these filters, and the mathematical operations of nonlinearities are greatly simplified. The block diagram of this controller of tendon-driven joint is provided, and controller performances are validated through simulations.

A robust adaptive control design for active tuned mass damper systems of multistory buildings

2020 ◽  
pp. 107754632096623
Author(s):  
Rafet Can Ümütlü ◽  
Hasan Ozturk ◽  
Baris Bidikli
Keyword(s):  
Controller Design ◽  
Control Design ◽  
Adaptive Controller ◽  
Tuned Mass Damper ◽  
Robust Adaptive Control ◽  
System Parameters ◽  
Multistory Buildings ◽  
Mass Damper ◽  
Robust Adaptive ◽  
Control Purpose

In this study, a robust adaptive controller is designed to be used in an active tuned mass damper system that can be used to damp undesired vibrations that occurred on the multistory buildings during the earthquake. To realize the controller design, all of the system parameters are assumed to be unknown, and the adaptive structure of the designed controller is obtained by designing adaptive compensation rules for system parameters. A backstepping control design approach is utilized for the control design by considering the appropriateness of the system’s structure of multistory buildings having an active tuned mass damper system at the top of the structure. The proposed control design is supported with a Lyapunov-based stability analysis where it is proven that the designed controller is able to protect the overall system’s stability while reaching the main control purpose. In addition to these, in the simulation studies realized for a nine-story building under the effect of a major earthquake, it is shown that the designed controller can be used to reach the main control purpose efficiently.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Robust self-tuning regressive adaptive controller design for a DC–DC BUCK converter

Measurement ◽  
2021 ◽  
Vol 174 ◽  
pp. 109071
Author(s):  
S. Morteza Ghamari ◽  
Hasan Mollaee ◽  
Fatemeh Khavari
Keyword(s):  
Controller Design ◽  
Adaptive Controller ◽  
Buck Converter ◽  
Self Tuning

Backstepping Based Adaptive Control of Magnetic Levitation System

2013 ◽  
Vol 341-342 ◽  
pp. 945-948 ◽  
Author(s):  
Wei Zhou ◽  
Bao Bin Liu
Keyword(s):  
Parameter Uncertainty ◽  
Closed Loop ◽  
Controller Design ◽  
Magnetic Levitation ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Actual System ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
Control Accuracy

In view of parameter uncertainty in the magnetic levitation system, the adaptive controller design problem is investigated for the system. Nonlinear adaptive controller based on backstepping is proposed for the design of the actual system with parameter uncertainty. The controller can estimate the uncertainty parameter online so as to improve control accuracy. Theoretical analysis shows that the closed-loop system is stable regardless of parameter uncertainty. Simulation results demonstrate the effectiveness of the presented method.

Robust Adaptive Control Based on Specified Region Pole Assignment for Flexible Hypersonic Vehicle

2011 ◽  
Vol 128-129 ◽  
pp. 270-275
Author(s):  
Zhi Gao Feng
Keyword(s):  
Dynamic Performance ◽  
Adaptive Controller ◽  
Pole Assignment ◽  
Hypersonic Vehicle ◽  
Open Loop ◽  
Robust Adaptive Control ◽  
Robust Controller ◽  
Robust Adaptive ◽  
Robust Adaptive Controller ◽  
Control Failures

This paper describes a robust adaptive controller based on specified region pole assignment for flexible hypersonic vehicle. The dynamic model of air-breathing hypersonic vehicle retains features including flexible effects, non-minimum phase behavior, model uncertainties, and strong couplings between flight dynamic and engine. To track velocity and altitude commands, robust controller based on specified region pole assignment is used to make unstable modes of open-loop system stable and guarantee dynamic performance of attitude. Meanwhile adaptive controller is proposed to solve tracking problems when existing control failures or saturation. The simulation results demonstrate that the proposed controller achieves excellent dynamic performance while the engine operates normally.

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