Design and Analysis of Adaptive Control Systems Over Wireless Networks

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Ali Albattat ◽  
Benjamin Gruenwald ◽  
Tansel Yucelen
Keyword(s):  
Wireless Networks ◽  
Adaptive Control ◽  
Control Systems ◽  
Data Exchange ◽  
Controller Design ◽  
Adaptive Controller ◽  
System Stability ◽  
Design Parameters ◽  
Adaptive Control Systems ◽  
Command Following

In this paper, we study the design and analysis of adaptive control systems over wireless networks using event-triggering control theory. The proposed event-triggered adaptive control methodology schedules the data exchange dependent upon errors exceeding user-defined thresholds to reduce wireless network utilization and guarantees system stability and command following performance in the presence of system uncertainties. Specifically, we analyze stability and boundedness of the overall closed-loop dynamical system, characterize the effect of user-defined thresholds and adaptive controller design parameters to the system performance, and discuss conditions to make the resulting command following performance error sufficiently small. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach.

A Non-Conservative Approach for the Estimation of the Region of Operation of Uncertain Adaptive Control Systems

2015 ◽  
Author(s):  
Mario Luca Fravolini ◽  
Tansel Yucelen ◽  
Antonio Moschitta ◽  
Benjamin Gruenwald
Keyword(s):  
Adaptive Control ◽  
Control Systems ◽  
Lyapunov Functions ◽  
Controller Design ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Adaptive Control Systems ◽  
Short Period ◽  
Conservative Estimation ◽  
And Performance

A challenging problem for Model Reference Adaptive Control Systems is the accurate characterization of the transient response in the presence of large uncertainties. Early prior research by the authors has demonstrated that using a projection mechanism for parameters adaptation the tracking error dynamics behaves as a linear system perturbed by bounded uncertainties. This brings the benefit that the stability analysis can be cast in terms of a convex optimization problem with LMI constraints so that efficient numerical tools can be used for the adaptive controller design. A possible limitation of the approach is that the design is restricted to quadratic control Lyapunov functions that could produce a conservative estimation of the regions of operation for the actual uncertain adaptive system. In this paper this approach is extended to arbitrary high degree polynomial Lyapunov functions by translating the design and performance requirements in terms of Sum of Square (SOS) inequalities and then using SOS optimization tools for the design. In this effort the new SOS approach is introduced and compared with the previous one. A numerical example based on the short period longitudinal dynamics of the F16 aircraft is used to demonstrate the efficacy of the novel method.

Calculation of Bounding Sets for Neural Network Based Adaptive Control Systems

2008 ◽  
Author(s):  
Giampiero Campa ◽  
Marco Mammarella ◽  
Bojan Cukic ◽  
Yu Gu ◽  
Marcello Napolitano ◽  
...  
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Control Systems ◽  
Adaptive Control Systems

Bounding set calculation for neural network-based output feedback adaptive control systems

2010 ◽  
Vol 20 (3) ◽  
pp. 373-387 ◽  
Author(s):  
Giampiero Campa ◽  
Mario Luca Fravolini ◽  
Marco Mammarella ◽  
Marcello R. Napolitano
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Control Systems ◽  
Output Feedback ◽  
Adaptive Control Systems

Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 1: Theory

1995 ◽  
Vol 209 (3) ◽  
pp. 191-196 ◽  
Author(s):  
K A Edge ◽  
F Gomes de Almeida
Keyword(s):  
Adaptive Control ◽  
Variable Structure ◽  
System Stability ◽  
Design Parameters ◽  
Variable Structure Systems ◽  
Model Following ◽  
Reference Type ◽  
Control Objective ◽  
Manipulator Design ◽  
Following Error

A new approach to adaptive control of manipulators is presented in this paper. The proposed controller for each individual axis is of the model reference type, designed through the use of variable structure systems theory. A novel feature of the controller is the introduction of a series-parallel model of the model-following error. The use of this model ensures system stability even if the manipulator design parameters or payload bounds are exceeded. Chattering of the system, associated with variable structure systems, is eliminated by arranging for the control objective to be physically achievable.

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