Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators

2004 ◽  
Author(s):  
Torben Ole Andersen ◽  
Michael Rygaard Hansen ◽  
Finn Conrad
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Control Method ◽  
Tracking Error ◽  
Order System ◽  
Linear Perturbation ◽  
Lyapunov Approach ◽  
Robust Adaptive ◽  
Bounded Disturbance ◽  
The Ideal

A method for synthesis of a robust adaptive scheme for a hydraulically driven manipulator, that takes full advantage of any known system dynamics to simplify the adaptive control problem for the unknown portion of the dynamics is presented. The control method is based on adaptive perturbation control. Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance. The control algorithm decouples and linearizes the manipulator so that each joint behaves as an independent second-order system with fixed dynamics.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

scholarly journals Robust Adaptive Control for Nonlinear Aircraft System with Uncertainties

2020 ◽  
Vol 10 (12) ◽  
pp. 4270
Author(s):  
Jiao Chen ◽  
Jiangyun Wang ◽  
Weihong Wang
Keyword(s):  
Adaptive Control ◽  
High Frequency ◽  
Control Method ◽  
Longitudinal Direction ◽  
Flight Simulation ◽  
Robust Adaptive Control ◽  
High Frequency Oscillation ◽  
Robust Adaptive ◽  
Aircraft System ◽  
Fast Adaptation

Model reference adaptive control (MRAC) schemes are known as an effective method to deal with system uncertainties. High adaptive gains are usually needed in order to achieve fast adaptation. However, this leads to high-frequency oscillation in the control signal and may even make the system unstable. A robust adaptive control architecture was designed in this paper for nonlinear aircraft dynamics facing the challenges of input uncertainty, matched uncertainty, and unmatched uncertainty. By introducing a robust compensator to the MRAC framework, the high-frequency components in the control response were eliminated. The proposed control method was applied to the longitudinal-direction motion control of a nonlinear aircraft system. Flight simulation results demonstrated that the proposed robust adaptive method was able to achieve fast adaptation without high-frequency oscillations, and guaranteed transient performance.

scholarly journals Robust adaptive synchronization of complex network with bounded disturbances

2019 ◽  
Vol 2019 (1) ◽  
Author(s):  
Chengjie Xu ◽  
Housheng Su ◽  
Chen Liu ◽  
Guohua Zhang
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Control Strategies ◽  
Variable Structure ◽  
Adaptive Synchronization ◽  
Leader Following ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Robust Adaptive Synchronization ◽  
Synchronization Protocol

AbstractIn this paper, we investigate distributed robust adaptive synchronization for complex networked systems with bounded disturbances. We propose both average synchronization protocol and leader-following synchronization protocol based on adaptive control and variable structure control strategies. The synchronization conditions do not require any global information except a connection assumption under the adaptive control method. Furthermore, the external disturbances are attenuated effectively. Finally, we present numerical simulations to illustrate the theoretical findings.

Adaptive control of a class of non-linear systems preceded by backlash-like hysteresis

2014 ◽  
Vol 24 (5) ◽  
Author(s):  
JIANPING CAI ◽  
LUJUAN SHEN ◽  
FUZHEN WU
Keyword(s):  
Differential Equation ◽  
Adaptive Control ◽  
Linear Systems ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Unknown Parameters ◽  
Control Scheme ◽  
Non Linear ◽  
Non Linear Systems ◽  
Robust Adaptive

We consider a class of uncertain non-linear systems preceded by unknown backlash-like hysteresis, which is modelled by a differential equation. We propose a new state feedback robust adaptive control scheme using a backstepping technique and properties of the differential equation. In this control scheme, we construct a new continuous function to design an estimator to estimate the unknown constant parameters and the unknown bound of a ‘disturbance-like’ term. The transient performance of the output tracking error can be guaranteed by the introduction of pre-estimates of the unknown parameters in our controller together with update laws. We do not require bounds on the ‘disturbance-like’ term or unknown system parameters in this scheme. The global stability of the closed-loop system can be proved.

Control Algorithm Study on Cantilever Machine Teaching-Playback

2014 ◽  
Vol 635-637 ◽  
pp. 1212-1215
Author(s):  
Ruo Han Liu ◽  
Chun Hua Li
Keyword(s):  
Control System ◽  
Intelligent Control ◽  
Control Algorithm ◽  
Control Method ◽  
Tracking Error ◽  
Cutting Parameters ◽  
Configuration Software ◽  
Monitoring Site ◽  
Software Monitoring ◽  
Operation Panel

In order to realize intelligent control, the cutting trajectory of TBM research machine adopts the principle of teaching and reappearing cutting trajectory control method, combining with the control system of teaching and reappearing and SIMATIC C7, operation interface is realized by using configuration software monitoring, monitoring site visually through the operation panel parameters change, timely adjust the cutting parameters. The experimental results show that the tracking error within the scope of the permit. The method to improve the intelligence of machine cutting control provides a reference basis.

Lyapunov Based Adaptive Control Method for Hydraulic Servo Drive

2016 ◽  
Author(s):  
Hamid Roozbahani ◽  
Konstantin Frumkin ◽  
Heikki Handroos
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Environmental Changes ◽  
Control Method ◽  
Servo System ◽  
Adaptive Controller ◽  
Servo Drive ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Adaptive Control Algorithm

Adaptive control systems are one of the most significant research directions of modern control theory. It is well known that every mechanical appliance’s behavior noticeably depends on environmental changes, functioning-mode parameter changes and changes in technical characteristics of internal functional devices. An adaptive controller involved in control process allows reducing an influence of such changes. In spite of this such type of control methods is applied seldom due to specifics of a controller designing. The work presented in this paper shows the design process of the adaptive controller built by Lyapunov’s function method for a hydraulic servo system. The modeling of the hydraulic servo system were conducting with MATLAB® software including Simulink® and Symbolic Math Toolbox™. In this study, the Jacobi matrix linearization of the object’s mathematical model and derivation of the suitable reference models based on Newton’s characteristic polynomial were applied. In addition, an intelligent adaptive control algorithm and system model including its nonlinearities was developed to solve Lyapunov’s equation. Developed algorithm works properly and considered plant is met requirement of functioning with. The results shows that the developed adaptive control algorithm increases system performance in use devices significantly and might be used for correction of system’s behavior and dynamics.

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