scholarly journals Composite adaptive control of a robotic joint for passive deployment applications

2002 ◽  
Vol 216 (3) ◽  
pp. 275-289
Author(s):  
A V C Reedman ◽  
K Bouazza-Marouf
Keyword(s):  
Adaptive Control ◽  
Control Strategies ◽  
Adaptive Controllers ◽  
Control Scheme ◽  
And Control ◽  
The Mathematical Model ◽  
Composite Adaptive Control ◽  
Single Worm ◽  
Adaptive Control Scheme ◽  
Computed Torque

A composite adaptive control scheme for the control of an actively constrained revolute joint with backlash cancellation is presented in this paper. The drive mechanism consists of two motor-driven worms coupled to a single worm wheel. The mathematical model and control strategies are reviewed. This is followed by the derivation of the composite adaptive controllers. Simulation and experimental results show that the composite adaptive control scheme gives an equivalent performance to a computed-torque algorithm without compromising the mechanism's ability to cancel backlash.

The Modeling and Control Study of VSC-MTDC System

2012 ◽  
Vol 516-517 ◽  
pp. 1453-1458 ◽  
Author(s):  
Peng Ye ◽  
Lin Yuan ◽  
Duo Jiao Guan ◽  
Xing Wei Xu ◽  
Kai Yuan Hou
Keyword(s):  
Reactive Power ◽  
Control Strategies ◽  
Local Mode ◽  
Modeling And Control ◽  
Voltage Controller ◽  
Control Scheme ◽  
Dc Voltage Control ◽  
Set Up ◽  
And Control ◽  
The Mathematical Model

VSC-Multi-Terminal Direct Current(VSC-MTDC) system is much more controllable and economic. In this paper, the mathematical model for the VSC-MTDC system is set up. Base on this model, the multi-terminal constant DC voltage control scheme with an offset component was developed for MTDC system in the distribute network. Decoupling linear PI controllers are applied for the independent control of active and reactive power. Constant DC and AC voltage controller is implemented respectively for source side and loads side for the high quality power supply. Simulation results show that the control scheme is very effective. With the proposed control strategies, dynamic process of the system can be controlled effectively. What is more, the control law is not complex and it is in the local mode. All of these merits make the control strategy very practical.

Speed Control of Hydraulic Press via Adaptive Back-Stepping

2010 ◽  
Vol 40-41 ◽  
pp. 46-51
Author(s):  
Chang Bin Li ◽  
Ai Guo Wu ◽  
Chun Yan Du
Keyword(s):  
Mathematical Model ◽  
Adaptive Control ◽  
Speed Control ◽  
Adaptive Controller ◽  
Hydraulic Press ◽  
Speed Controller ◽  
Control Scheme ◽  
Simulation Results ◽  
The Mathematical Model ◽  
Adaptive Control Scheme

This paper is concerned with speed control of hydraulic press system. First, the mathematical model of hydraulic press is derived from its physical characteristics. Then, based on this model, the so-called back-stepping approach is used to design a speed controller. Moreover, in order to overcome the unknown deformation resistance and some other resistance, an adaptive control scheme is introduced to this controller. Finally, a real hydraulic press model is used to validate the proposed method. Simulation results show that the adaptive controller deals with the nonlinearity effectively, and the tracking performance of the system is good.

Cluster synchronization in fractional-order network with nondelay and delay coupling

2021 ◽  
pp. 2250006
Author(s):  
Yi Wang ◽  
Zhaoyan Wu
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Cluster Synchronization ◽  
Sufficient Condition ◽  
Fractional Order Systems ◽  
Adaptive Controllers ◽  
Control Scheme ◽  
Control Schemes ◽  
The Stability ◽  
Adaptive Control Scheme

In this paper, cluster synchronization for fractional-order complex network with nondelay and delay coupling is investigated. Based on the stability theory of fractional-order systems and the properties of fractional derivative, both static and adaptive control schemes are adopted to design effective controllers. Sufficient condition for achieving cluster synchronization about static controllers is provided. From the condition, the needed feedback gains can be estimated by simple calculations. Further, adaptive control scheme is introduced to design unified controllers. Noticeably, in the adaptive controllers, the feedback gains need not be calculated in advance and can adjust themselves to the needed values according to updating laws. Finally, numerical simulations are given to demonstrate the correctness of the obtained results.

Synchronization of Unknown Uncertain Chaotic Systems Via Adaptive Control Method

2015 ◽  
Vol 10 (5) ◽  
Author(s):  
Mohammad Pourmahmood Aghababa ◽  
Bijan Hashtarkhani
Keyword(s):  
Adaptive Control ◽  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Adaptive Controllers ◽  
Control Scheme ◽  
Uncertain Chaotic Systems ◽  
The Stability ◽  
Feedback Control Strategy ◽  
Adaptive Control Scheme

In this paper, an adaptive control scheme is offered to synchronize two different uncertain chaotic systems. It is assumed that the whole dynamics of both master and slave chaotic systems and their bounds are unknown and different. The error system stabilization is achieved in two cases: with input nonlinearities and without input nonlinearities. We design an adaptive control scheme based on the state boundedness property of the chaotic systems. The proposed method does not need any information about nonlinear/linear terms of the chaotic systems. It only uses an adaptive feedback control strategy. The stability of the proposed controllers is proved by using the Lyapunov stability theory. Finally, the designed adaptive controllers are applied to synchronize two different pairs of the chaotic systems (Lorenz–Chen and electromechanical device–electrostatic transducer).

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.

Sign in / Sign up

Export Citation Format

Share Document