A SIMPLE SYNCHRONIZATION SCHEME OF COULLET SYSTEMS WITH UNKNOWN PARAMETERS

2014 ◽  
Vol 28 (06) ◽  
pp. 1450021
Author(s):  
ZUO-LEI WANG ◽  
XUE-RONG SHI ◽  
YAOLIN JIANG
Keyword(s):  
Adaptive Control ◽  
Numerical Simulations ◽  
Sufficient Conditions ◽  
Unknown Parameters ◽  
Control Scheme ◽  
Single Controller ◽  
Synchronization Scheme ◽  
Adaptive Control Scheme

Synchronization of Coullet systems is investigated via back stepping method when parameters are unknown. A novel adaptive control scheme is presented, which contains a single controller. To achieve the synchronization of Coullet systems, sufficient conditions are derived and the unknown parameters are estimated. Finally, some numerical simulations are employed to verify the effectiveness of the proposed scheme.

Modelling and Adaptive Control of Tendon-Driven Micromanipulators in the Presence of Van-der-Waals Forces

2004 ◽  
Author(s):  
Athanasios Tsoukalas ◽  
Anthony Tzes
Keyword(s):  
Adaptive Control ◽  
Design Problem ◽  
Van Der Waals ◽  
Adaptive Controller ◽  
Simulation Studies ◽  
Unknown Parameters ◽  
Actuation Mechanism ◽  
Control Scheme ◽  
Driven System ◽  
Adaptive Control Scheme

In this article, the design problem of an adaptive controller for a robotic micromanipulator, including the effects of the applied Van der Waals (VdW) forces is considered. The micro-manipulator’s dynamic model is appropriately modified in order to include the interaction of the attractive VdW-forces. Inhere, every link is decomposed into a series of elementary particles (e.g. spheres), each one interacting with the robot’s neighboring objects during its motion. This interaction induces nonlinear additive terms in the model, attributed to the overall effect of the VdW-forces. The actuation is achieved by a tendon-driven system. At each joint, a pair of tendons is attached and act in an almost passive antagonistic manner. The kinematic and dynamic analysis of the tendon-driven actuation mechanism is offered. Consequently, the microrobot’s model is shown to be linearly parameterizable. Subject to this observation, a globally stabilizable adaptive control scheme is derived, estimating the unknown parameters (masses, generalized VdW-forces) and compensating any variations of those. Simulation studies on a 2-DOF micro-manipulator are offered to highlight the effectiveness of the proposed scheme.

Cross-coupling synchronous velocity control using model reference adaptive control scheme in an unsymmetrical biaxial winding system

2018 ◽  
Vol 232 (9) ◽  
pp. 1245-1259
Author(s):  
Huy Hung Nguyen ◽  
Van Tu Duong ◽  
Dae Hwan Kim ◽  
Hak Kyeong Kim ◽  
Sang Bong Kim
Keyword(s):  
Adaptive Control ◽  
Cross Coupling ◽  
Model Reference Adaptive Control ◽  
Coupling Mechanism ◽  
Unknown Parameters ◽  
Model Reference ◽  
Motion Error ◽  
Control Scheme ◽  
Model Reference Adaptive ◽  
Adaptive Control Scheme

Motion control with high accuracy for each axial system is the fundamental requirement to reduce a synchronous motion error of a multi-axis system. Especially, designing a model-based controller for an uncertainty system with unknown parameters is not easy without using system identification. To overcome the mentioned issue, this article proposes a cross-coupling synchronous velocity controller using a backstepping-based model reference adaptive control scheme in an unsymmetrical biaxial winding system called a transformer winding system. The proposed controller deals not only with the uncertainty but also with the recursive structure of the system. The backstepping technique for the recursive structural system and the model reference adaptive control method for the uncertainty of the system are designed to stabilize two axial systems with unknown parameters. An auxiliary system is added to build the proposed controller for coping with input constraints of physical actuators. To improve the proposed controller’s ability to cope with external disturbances, a dead-zone modification is utilized to modify the adaptation laws to avoid the drift phenomenon. Moreover, a cross-coupling mechanism is integrated into the proposed controller to reduce the synchronous velocity error between the velocities of the biaxial winding system. The proposed controller is also transformed into discrete time to be run on a digital signal processor alone chip. The experimental results are shown to verify the high performance and efficiency of the proposed controller for practical applications.

scholarly journals Adaptive Control and Synchronization of Sprott J System With Estimation Of Fully Unknown Parameters

2015 ◽  
Vol 45 (2) ◽  
pp. 45-58 ◽  
Author(s):  
Mitul Islam ◽  
Nurul Islam ◽  
Svetoslav Nikolov
Keyword(s):  
Dynamical System ◽  
Adaptive Control ◽  
Lyapunov Function ◽  
Numerical Simulations ◽  
Unknown Parameters ◽  
Adaptive Scheme ◽  
System A ◽  
Control And Synchronization ◽  
Synchronization Scheme ◽  
Derivatives Of

Abstract This communication develops an adaptive scheme for control and synchronization of Sprott J system with fully unknown parameters. The scheme provides an elegant strategy of designing estimators for identification of the unknown parameters of the underlying dynamical system. Adaptive control and update laws are proposed to globally stabilize the chaotic Sprott J system. A pair of identical Sprott J systems with un- known parameters are globally synchronized with the help of adaptive control and parameter update laws. The results are established using LaSalle invariance principle, which lays down weaker restrictions on the derivatives of the Lyapunov function, and producing more general results. All the results obtained in the paper are global in nature. Numerical simulations are performed to illustrate the validity and effectiveness of the proposed adaptive control and synchronization scheme in the context of the Sprott J system. The parameter identification capability of the scheme is also explored.

Adaptive Control Scheme for Coupled Tank Process

2018 ◽  
pp. 89-95
Author(s):  
Vinodhini M.
Keyword(s):  
Adaptive Control ◽  
Nonlinear Behaviour ◽  
Simulation Studies ◽  
Input Output ◽  
Control Scheme ◽  
Direct Model ◽  
Multivariable Process ◽  
Model Reference Adaptive ◽  
Siso System ◽  
Adaptive Control Scheme

The objective of this paper is to develop a Direct Model Reference Adaptive Control (DMRAC) algorithm for a MIMO process by extending the MIT rule adopted for a SISO system. The controller thus developed is implemented on Laboratory interacting coupled tank process through simulation. This can be regarded as the relevant process control in petrol and chemical industries. These industries involve controlling the liquid level and the flow rate in the presence of nonlinearity and disturbance which justifies the use of adaptive techniques such as DMRAC control scheme. For this purpose, mathematical models are obtained for each of the input-output combinations using white box approach and the respective controllers are developed. A detailed analysis on the performance of the chosen process with these controllers is carried out. Simulation studies reveal the effectiveness of proposed controller for multivariable process that exhibits nonlinear behaviour.

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