ADAPTIVE CONTROL OF RECURRENT TRAJECTORIES BASED ON LINEARIZATION OF POINCARÉ MAP

The problem of adaptive output feedback control aimed at stabilization of a (periodic or chaotic) goal trajectory is considered. Advantages and drawbacks of chaos control method based on linearization of Poincaré map (first proposed by Ott, Grebogi and Yorke in 1990) are discussed. It is suggested that the recurrence of the goal trajectory is the key property for applicability of approach. Algorithms of adaptive control based on linearization of controlled Poincaré map and method of goal inequalities are proposed. It is shown that stabilization of recurrent trajectories is possible under additional controllability-like and observability-like conditions. Examples of stabilization of periodic and chaotic trajectories for forced brusselator and Rössler systems are studied by computer simulations.

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Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2015.p0461 ◽

2015 ◽

Vol 27 (5) ◽

pp. 461-468 ◽

Cited By ~ 10

Author(s):

Taro Takagi ◽

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Ikuro Mizumoto ◽

Junpei Tsunematsu ◽

◽

...

Keyword(s):

Adaptive Control ◽

Control System ◽

Feedback Control ◽

Output Feedback ◽

Output Feedback Control ◽

Adaptive Control System ◽

Controlled System ◽

Direct Design ◽

Adaptive Output Feedback Control ◽

A Performance

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/01.jpg"" width=""300"" /> Block diagram of proposed control</div> An adaptive control system is configured simply by output feedback when the controlled system is almost strictly positive real (ASPR). ASPR conditions are, however, very severe restrictions for actual systems. The parallel feedforward compensator (PFC), which is designed for making augmented controlled system ASPR, has been proposed to solve this problem. We propose a performance-driven adaptive output feedback control system with a PFC designed via direct design. Our proposed adaptive control system is to be used for systems whose properties change during operation. Our PFC’s direct design uses the system’s input/output data and readjusts output feedback gain based on a performance index. The effectiveness of the proposed method is confirmed through experiments using liquid level control for the two-tank process system. </span>

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Experimental results for output feedback adaptive robot control

Robotica ◽

10.1017/s0263574706002906 ◽

2006 ◽

Vol 24 (6) ◽

pp. 727-738 ◽

Cited By ~ 9

Author(s):

John M. Daly ◽

Howard M. Schwartz

Keyword(s):

Adaptive Control ◽

Feedback Control ◽

Output Feedback ◽

Output Feedback Control ◽

Robotic Manipulators ◽

High Gain ◽

Experimental Results ◽

Position Information ◽

High Gain Observer ◽

Adaptive Output Feedback Control

This paper examines three methods of adaptive output feedback control for robotic manipulators. Implementing output feedback control allows use of only the position information, which can be measured quite accurately. Velocity and acceleration measurements can get corrupted by noise. A method proposed by K. W. Lee and H. K. Khalil [Adaptive output feedback control of robot manipulators using high-gain observer, Int. J. Control, 6, 869–886 (1997)] using a high-gain observer, one proposed by J. J. Craig, P. Hsu and S. S. Sastry [Adaptive control of mechanical manipulators, Int. J. Robot. Res., 6(2), 16–27 (1987)] with the addition of a linear observer that we propose, and a method proposed by R. Gourdeau and H. M. Schwartz [Adaptive control of robotic manipulators: Experimental results, Proceedings of the 1991 IEEE International Conference on Robotics and Automation (Apr. 1991) pp. 8–15] using an Extended Kalman Filter are examined. The methods are implemented in simulation and experimentally on a direct-drive robot. The performance of each of the algorithms is compared.

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