scholarly journals Adaptive Navigating Control Based on the Parallel Action-Network ADHDP Method for Unmanned Surface Vessel

2019 ◽  
Vol 2019 ◽  
pp. 1-8
Author(s):  
Zhijian Huang ◽  
Xinze Liu ◽  
Jiayi Wen ◽  
Guichen Zhang ◽  
Yihua Liu
Keyword(s):  
Adaptive Control ◽  
Rbf Neural Network ◽  
Adaptive Controller ◽  
System Stability ◽  
Lyapunov Stability Analysis ◽  
Action Network ◽  
Unmanned Surface Vessel ◽  
Control Character ◽  
Surface Vessel ◽  
Parallel Action

The feedback PID method was mainly used for the navigating control of an unmanned surface vessel (USV). However, when the intelligent control era is coming now, the USV can be navigated more effectively. According to the USV character in its navigating control, this paper presents a parallel action-network ADHDP method. This method connects an adaptive controller parallel to the action network of the ADHDP. The adaptive controller adopts a RBF neural network approximation based on the Lyapunov stability analysis to ensure the system stability. The simulation results show that the parallel action-network ADHDP method has an adaptive control character and can navigate the USV more accurately and rapidly. In addition, this method can also eliminate the overshoot of the ADHDP controller when navigating the USV in various situations. Therefore, the adaptive stability design can greatly improve the navigating control and effectively overcome the ADHDP algorithm limitation. Thus, this adaptive control can be one of the intelligent ADHDP control methods. Furthermore, this method will be a foundation for the development of an intelligent USV controller.

scholarly journals RBF Neural Network Backstepping Sliding Mode Adaptive Control for Dynamic Pressure Cylinder Electrohydraulic Servo Pressure System

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-16
Author(s):  
Pan Deng ◽  
Liangcai Zeng ◽  
Yang Liu
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Sliding Mode ◽  
Model Simulation ◽  
Rbf Neural Network ◽  
Dynamic Pressure ◽  
Adaptive Controller ◽  
Pressure System ◽  
Output Pressure ◽  
Pressure Cylinder

According to the hydraulic principle diagram of the subgrade test device, the dynamic pressure cylinder electrohydraulic servo pressure system math model and AMESim simulation model are established. The system is divided into two parts of the dynamic pressure cylinder displacement subsystem and the dynamic pressure cylinder output pressure subsystem. On this basis, a RBF neural network backstepping sliding mode adaptive control algorithm is designed: using the double sliding mode structure, the two RBF neural networks are used to approximate the uncertainties in the two subsystems, provide design methods of RBF sliding mode adaptive controller of the dynamic pressure cylinder displacement subsystem and RBF backstepping sliding mode adaptive controller of the dynamic pressure cylinder output pressure subsystem, and give the two RBF neural network weight vector adaptive laws, and the stability of the algorithm is proved. Finally, the algorithm is applied to the dynamic pressure cylinder electrohydraulic servo pressure system AMESim model; simulation results show that this algorithm can not only effectively estimate the system uncertainties, but also achieve accurate tracking of the target variables and have a simpler structure, better control performance, and better robust performance than the backstepping sliding mode adaptive control (BSAC).

Lyapunov-Based Adaptive Control for the Permanent Magnet Synchronous Motor Driving a Robotic Load

2017 ◽  
Vol 26 (11) ◽  
pp. 1750168 ◽  
Author(s):  
Javier Moreno-Valenzuela ◽  
Yajaira Quevedo-Pillado ◽  
Regino Pérez-Aboytes ◽  
Luis González-Hernández
Keyword(s):  
Adaptive Control ◽  
Permanent Magnet ◽  
Permanent Magnet Synchronous Motor ◽  
Adaptive Controller ◽  
Synchronous Motor ◽  
Lyapunov Theory ◽  
System Stability ◽  
Field Oriented Control ◽  
Tracking Accuracy ◽  
Trajectory Tracking Control

This paper is inspired on the structure of the field-oriented control by presenting an analytical and practical study of an adaptive nested controller for trajectory tracking control of a permanent magnet synchronous motor (PMSM) driving a single-link arm. The originality of the new approach relies in the use of adaptive control to compensate the electrical and mechanical dynamics and in the presentation of a rigorous closed-loop system stability analysis based on Lyapunov theory. It is worthwhile to notice that the new controller resembles the pure field-oriented control except for the adaptive terms. The new scheme is compared with other methodologies as with the classical nonadaptive field-oriented control algorithm and with an adaptive controller proposed in the literature. A better tracking accuracy is obtained with the proposed adaptive scheme.

Superharmonics-Free Adaptive Semiactive Magneto-Rheological Suspension

2005 ◽  
Author(s):  
Xubin Song ◽  
Mehdi Ahmadian ◽  
Steve Southfield ◽  
Lane Miller
Keyword(s):  
Adaptive Control ◽  
Adaptive Algorithm ◽  
Vibration Suppression ◽  
Mr Damper ◽  
Adaptive Controller ◽  
System Stability ◽  
Structural Vibration ◽  
Vehicle Suspensions ◽  
Seat Suspension ◽  
Magneto Rheological

This paper focuses on laboratory implementation of a semiactive seat suspension with application of magneto-rheological (MR) dampers. We firstly introduce the nonlinear dynamics phenomena induced with the skyhook control that is now widely applied from structural vibration suppression to commercialized vehicle suspensions. However, superharmonic dynamics has not been clearly addressed in such vibration control systems. This paper tries to explain how superharmonics are created with skyhook controls through testing data analysis. Furthermore, in order to avoid this dynamics issue, this study implements a nonlinear model-based adaptive control into this MR damper based seat suspension. Based on a nonparametric MR damper model, the adaptive algorithm is expanded mathematically, and the system stability is discussed. Then in the following sections, this paper describes implementation procedures such as modeling simplification and validation, and testing results. Through the laboratory testing, the adaptive suspension is compared to two passive suspensions: hard-damping (stiff) suspension with max current of 1A to the MR damper, and low-damping (soft) suspension with minimum of 0A, while broadband random excitations are applied with respect to the seat suspension resonant frequency in order to test the adaptability of the adaptive control. Furthermore, mass and spring rate are assumed known and unknown for this adaptive controller to investigate the capability of this algorithm with the simplified model, respectively. Finally the comparison of testing results is presented to show the effectiveness and feasibility of the proposed adaptive algorithm to eliminate the superharmonics from the MR seat suspension.

scholarly journals L2-Gain-Based Practical Stabilization of an Underactuated Surface Vessel

2021 ◽  
Vol 9 (3) ◽  
pp. 341
Author(s):  
Weilin Luo ◽  
Xin Qi
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
System Stability ◽  
Surface Ship ◽  
Continuous Feedback ◽  
Robust Adaptive ◽  
Feedback Laws ◽  
Surface Vessel ◽  
L2 Gain

To obtain a stabilizer for an underactuated surface vessel with disturbances, an L2-gain design is proposed. Surge, sway, and yaw motions are considered in the dynamics of a surface ship. To ob-tain a robust adaptive controller, a diffeomorphism transformation and the Lyapunov function are employed in controller design. Two auxiliary controllers are introduced for an equivalent sys-tem after the diffeomorphism transformation. Different from the commonly used disturbance ob-server-based approach, the L2-gain design is used to suppress random uncertain disturbances in ship dynamics. To evaluate the controller performance in suppressing disturbances, two error sig-nals are defined in which the variables to be stabilized are incorporated. Both time-invariant dis-continuous and continuous feedback laws are proposed to obtain the control system. Stability analysis and simulation results demonstrate the validity of the controllers proposed. A comparison with a sliding mode controller is performed, and the results prove the advantage of the proposed controller in terms of faster convergence rate and chattering avoidance.

scholarly journals Unmanned surface vessel heading control of model-free adaptive method with variable integral separated and proportion control

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141983158
Author(s):  
Quanquan Jiang ◽  
Yulei Liao ◽  
Ye Li ◽  
Yugang Miao ◽  
Wen Jiang ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Separation Factor ◽  
Control Method ◽  
Compact Form ◽  
Proportional Control ◽  
Model Free ◽  
Heading Control ◽  
Unmanned Surface Vessel ◽  
Integral Separation ◽  
Surface Vessel

Based on model-free adaptive control theory, the heading control problem of unmanned surface vessels under uncertain influence is explored. Firstly, the problems of compact form dynamic linearization model-free adaptive control method applied to unmanned surface vessel heading control are analyzed. Secondly, by introducing proportional control and variable integral separation factor, an variable integral separation model-free adaptive control algorithm with proportional control is proposed. The introduction of proportional control and variable integral separation factor solves the problems of oscillation, instability, and integral saturation when rudder angle is controlled directly to control the heading of unmanned surface vessel with compact form dynamic linearization model-free adaptive control method. Finally, the effectiveness of the method is verified by the simulation and field experiments results of heading control with model perturbation and system time delay in unmanned surface vessel heading subsystem.

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.

scholarly journals Robust Adaptive Path Following Control of an Unmanned Surface Vessel Subject to Input Saturation and Uncertainties

2019 ◽  
Vol 9 (9) ◽  
pp. 1815 ◽  
Author(s):  
Yunsheng Fan ◽  
Hongyun Huang ◽  
Yuanyuan Tan
Keyword(s):  
Adaptive Control ◽  
Finite Time ◽  
Input Saturation ◽  
Path Following ◽  
Robust Adaptive Control ◽  
Time Varying ◽  
Path Following Control ◽  
Unmanned Surface Vessel ◽  
Robust Adaptive ◽  
Surface Vessel

This paper investigates the path following control problem of an unmanned surface vessel (USV) subject to input saturation and uncertainties including model parameters uncertainties and unknown time-varying external disturbances. A nonlinear robust adaptive control scheme is proposed to address the issue, more specifically, steering a USV to follow the desired path at a certain velocity assignment despite the involved disturbances, by utilizing the finite-time currents observer based line-of-sight (LOS) guidance and radial basis function neural networks (RBFNN). Backstepping and Lyapunov’s direct method are the main design frameworks. Based on the finite-time currents observer and adaptive control technique, an improved LOS guidance law is proposed to obtain the desired approaching angle to the desired path, making compensations for the effects of unknown time-varying ocean currents. Then, a kinetic controller with the capability of uncertainties estimation and disturbances rejection is proposed based on the RBFNNs, where the adaptive laws including leakage terms estimate the approximation error and the unknown time-varying disturbances. Subsequently, sophisticated auxiliary control systems are employed to handle input saturation constraints of actuators. All error signals of the closed-loop system are proved to be locally uniformly ultimately bounded (UUB). Numerical simulations demonstrated the effectiveness and robustness of the proposed path following control method.

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