Adaptive tracking control of switched linear systems with multiple disturbance observers

2021 ◽  
pp. 014233122110253
Author(s):  
Jaber Hosseini ◽  
Zahra Rahmani ◽  
Abolfazl Ranjbar Noe
Keyword(s):  
Linear System ◽  
Dwell Time ◽  
Average Dwell Time ◽  
Adaptive Controller ◽  
Time Dependent ◽  
Control Input ◽  
Switched Linear System ◽  
Adaptive Tracking Control ◽  
Adaptive Laws ◽  
Model Reference Adaptive

This paper deals with model reference adaptive control for an uncertain switched linear system in the presence of disturbances in the state and control input based on time-dependent switching methods. A novel composite disturbance observer-based adaptive controller with adaptive laws is proposed in a tracking problem of uncertain switched linear system. First, two disturbance observers are proposed to estimate disturbances. Then, a hybrid switched adaptive controller based on state feedback and disturbance observers is designed. Thereafter, based on time-dependent switching signals included dwell-time (DT), average dwell-time (ADT), and the mode-dependent approaches of DT and ADT, a globally uniformly ultimately bounded stability of the closed-loop switched linear system is proved. Finally, the theoretic achievement is applied to a highly manoeuvrable aircraft technology vehicle to demonstrate the significance of the proposed method.

scholarly journals Robust Observer Design for Switched Positive Linear System with Uncertainties

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Yanke Zhong ◽  
Tefang Chen
Keyword(s):  
Linear System ◽  
Linear Matrix Inequality ◽  
Dwell Time ◽  
Sufficient Conditions ◽  
Average Dwell Time ◽  
Observer Design ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Robust Observer ◽  
Slack Variable

This paper is concerned with the design of a robust observer for the switched positive linear system with uncertainties. Sufficient conditions of building a robust observer are established by using the multiple copositive Lyapunov-krasovskii function and the average dwell time approach. By introducing an auxiliary slack variable, these sufficient conditions are transformed into LMI (linear matrix inequality). A numerical example is given to illustrate the validities of obtained results.

Model Reference Adaptive Tracking Control of Nonminimum Phase Marine Vehicles

2005 ◽  
Author(s):  
Yannick Morel ◽  
Alexander Leonessa
Keyword(s):  
Adaptive Controller ◽  
Propulsion System ◽  
Lyapunov Theory ◽  
System Stability ◽  
Zero Dynamics ◽  
Model Reference ◽  
Nonminimum Phase ◽  
Adaptive Tracking Control ◽  
Marine Vehicles ◽  
Model Reference Adaptive

The most commonly used propulsion system for marine vehicles is a propeller, generating thrust, and a stern rudder, used for steering. Motion control of a vehicle equipped with such a propulsion system can prove rather challenging. Indeed, the vehicle will not only be underactuated, but also nonminimum phase. Classically, the undesirable effects of the nonminimum phase nature of the system will translate into attitude issues. In this paper, a model reference adaptive controller that satisfactorily solves the tracking problem for a nonminimum phase model of marine vehicle is presented, along with an expression of the zero-dynamics. Using Lyapunov theory and introducing carefully chosen tracking errors, we study the closed-loop system stability and relate the behavior of the zero-dynamics to a relevant design constant.

Composite adaptive posicast controller for the wing rock phenomenon in a delta-wing aircraft

2019 ◽  
Vol 233 (15) ◽  
pp. 5579-5591
Author(s):  
Amir Yousefimanesh ◽  
Alireza Khosravi ◽  
Pouria Sarhadi
Keyword(s):  
Delta Wing ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Composite Model ◽  
Input Delay ◽  
Model Reference ◽  
Wing Rock ◽  
Adaptive Laws ◽  
Regulation And Tracking ◽  
Model Reference Adaptive

The nonlinear dynamic phenomenon like wing rock is one of the important issues in the high performance aircraft autopilot design. This phenomenon occurs in the form of constant amplitude oscillations in the roll dynamics, during the flight at high angles of attack (AOAs) and endangers carrying out the mission of an aircraft. In this paper, a composite adaptive posicast controller is designed for the wing rock phenomenon in a delta-wing aircraft with known input delay. The existence of the input delay besides the parametric uncertainties of the system dynamics adds to the complexity of the problem and can cause undesirable troubles in regulation and tracking performance or instability in the control system. Consequently, there is a need for a controller that can provide the stability and desirable regulation and tracking for the system. The proposed control method uses the system state forecasting and the composite model reference adaptive controller in an integrated control structure based on linear quadratic regulator (LQR). Combining the tracking error and the prediction error to form the adaptive laws in the composite model reference adaptive controller improves the characteristics of the system response and provides a better performance compared to the model reference adaptive controller in which the adaptive laws are formed only with the tracking error. Simulation results show the efficiency of the composite adaptive posicast controller in counteracting the system uncertainties in the presence of considerably large input delay cases.

Switched Fractional Order Model Reference Adaptive Control for an Automatic Voltage Regulator

2021 ◽  
Author(s):  
Norelys Aguila-Camacho ◽  
Jorge E. García-Bustos ◽  
Eduardo I. Castillo-López
Keyword(s):  
Fractional Order ◽  
Adaptive Controller ◽  
System Response ◽  
Voltage Regulator ◽  
Order Model ◽  
Model Reference ◽  
Fractional Order Model ◽  
Automatic Voltage Regulator ◽  
Adaptive Laws ◽  
Model Reference Adaptive

Abstract This paper presents the design and implementation of a Switched Fractional Order Model Reference Adaptive Controller (SFOMRAC) for an Automatic Voltage Regulator (AVR). The fractional orders, adaptive gains and switching times of the controller adaptive laws are tuned offline, using Particle Swarm Optimization (PSO). The functional to be optimized contains not only parameters of the AVR response but also the control energy. The obtained controllers are compared to non switched Integer Order Model Reference Adaptive Controller (IOMRAC) and non switched Fractional Order Model Reference Adaptive Controller (FOMRAC) proposed previously for this process, showing that the SFOMRAC can improve both, the system response and the control energy used.

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