A new model-free adaptive controller versus non-linear H∞ controller for levitation of an electromagnetic system

2012 ◽  
Vol 35 (3) ◽  
pp. 321-329 ◽  
Author(s):  
Ali Javadi ◽  
Saeed Pezeshki
Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7438
Author(s):  
Yasin Asadi ◽  
Amirhossein Ahmadi ◽  
Sasan Mohammadi ◽  
Ali Moradi Amani ◽  
Mousa Marzband ◽  
...  

The universal paradigm shift towards green energy has accelerated the development of modern algorithms and technologies, among them converters such as Z-Source Inverters (ZSI) are playing an important role. ZSIs are single-stage inverters which are capable of performing both buck and boost operations through an impedance network that enables the shoot-through state. Despite all advantages, these inverters are associated with the non-minimum phase feature imposing heavy restrictions on their closed-loop response. Moreover, uncertainties such as parameter perturbation, unmodeled dynamics, and load disturbances may degrade their performance or even lead to instability, especially when model-based controllers are applied. To tackle these issues, a data-driven model-free adaptive controller is proposed in this paper which guarantees stability and the desired performance of the inverter in the presence of uncertainties. It performs the control action in two steps: First, a model of the system is updated using the current input and output signals of the system. Based on this updated model, the control action is re-tuned to achieve the desired performance. The convergence and stability of the proposed control system are proved in the Lyapunov sense. Experiments corroborate the effectiveness and superiority of the presented method over model-based controllers including PI, state feedback, and optimal robust linear quadratic integral controllers in terms of various metrics.


2021 ◽  
Author(s):  
Manjeet Tummalapalli

This project proposes a new SCARA variant with 4 degree of freedom. The proposed variant is achieved by swapping joint 2 and joint 3 of the standard SCARA robots. An adaptive controller is defined based on the advantages and disadvantages of PD, and SMC controllers.The purpose of the project is to understand the dynamics of the variant and to track the performance for trajectories. Simulations for tracking performance are carried under linear and circular trajectories. The variant is studied over the three controllers; PD, PD-SMC and A-PD-SMC. The variant under the adaptive controller is most efficient in terms of tracking performance and the control inputs to the system. The system is simulated under high speed and with the influence of friction at the joints. The control gains are held constant for both the trajectories and hence the controller is able to perform good under changing trajectories. Due to the use of the adaptive law, the system is at the ease of implementation and since no priori knowledge if the system is needed, it is model free. Therefore, the proposed adaptive PD-SMC has proven to provide good, robust trajectory tracking.


2019 ◽  
Vol 35 (14) ◽  
pp. i427-i435 ◽  
Author(s):  
Héctor Climente-González ◽  
Chloé-Agathe Azencott ◽  
Samuel Kaski ◽  
Makoto Yamada

AbstractMotivationFinding non-linear relationships between biomolecules and a biological outcome is computationally expensive and statistically challenging. Existing methods have important drawbacks, including among others lack of parsimony, non-convexity and computational overhead. Here we propose block HSIC Lasso, a non-linear feature selector that does not present the previous drawbacks.ResultsWe compare block HSIC Lasso to other state-of-the-art feature selection techniques in both synthetic and real data, including experiments over three common types of genomic data: gene-expression microarrays, single-cell RNA sequencing and genome-wide association studies. In all cases, we observe that features selected by block HSIC Lasso retain more information about the underlying biology than those selected by other techniques. As a proof of concept, we applied block HSIC Lasso to a single-cell RNA sequencing experiment on mouse hippocampus. We discovered that many genes linked in the past to brain development and function are involved in the biological differences between the types of neurons.Availability and implementationBlock HSIC Lasso is implemented in the Python 2/3 package pyHSICLasso, available on PyPI. Source code is available on GitHub (https://github.com/riken-aip/pyHSICLasso).Supplementary informationSupplementary data are available at Bioinformatics online.


2011 ◽  
Vol 38 (5) ◽  
pp. 4866-4874 ◽  
Author(s):  
Taha Mansouri ◽  
Alireza Farasat ◽  
Mohammad B. Menhaj ◽  
Mohammad Reza Sadeghi Moghadam

Sign in / Sign up

Export Citation Format

Share Document