Reduced order indirect self-tuning regulator for a novel pneumatic tele-operation system

2019 ◽  
Vol 234 (3) ◽  
pp. 370-383
Author(s):  
Mohamad Baayoun ◽  
Naseem Daher ◽  
Matthias Liermann
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Force Feedback ◽  
Adaptive Controller ◽  
Adaptive Control System ◽  
Bilateral Control ◽  
Active Components ◽  
Operation System ◽  
Reduced Order ◽  
Self Tuning

This article presents a reduced order indirect self-tuning regulator for a passive pneumatic tele-operation system, which is intended for use in medical surgeries in magnetic resonance imaging environments with short transmission distances ([Formula: see text]), where force feedback is required. The novel tele-operation system uses less active components as compared to conventional systems and realizes a bilateral control without the use of a force or pressure sensor. The proposed adaptive control system is validated in simulation and experimentation on a test rig built for this purpose. Special attention is given to the notion of transparency of the system, which is the ratio between the resistance of the master device experienced by the operator and the actual resistance of the remote environment in contact with the slave device. The adaptive controller shows advantage over a previously designed non-adaptive control system design in terms of stiffness, damping, and transparency.

Design of a Disturbance Accommodating Adaptive Control System and Its Application to a DC-Servo Motor System With Coulomb Friction

1988 ◽  
Vol 110 (4) ◽  
pp. 343-349 ◽  
Author(s):  
P. N. Nikiforuk ◽  
K. Tamura
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Coulomb Friction ◽  
Motor System ◽  
Position Control ◽  
Adaptive Controller ◽  
Analog Computer ◽  
Adaptive Control System ◽  
Servo Motor ◽  
Analytical Functions

This paper discusses the design of a model reference type of adaptive control system for a linear unknown plant with system and observation disturbances. The disturbances are assumed to be approximately expressed by step, sinusoidal, and other analytical functions. The design of a controller, called a disturbance accommodating adaptive controller (DAAC), which eliminates the effect of these disturbances at the plant output, is described. Two types of bias DAAC are given as examples and are applied to the adaptive control of a DC-servo motor system. The plant (the DC-servo system) consists of two unknown loads connected through an electrical clutch and Coulomb friction. The effect of the friction on the plant is considered as an unknown bias disturbance and the DAAC is implemented on an analog computer. Experimental results for the position control of the DAAC system are given.

Experiments on Adaptive Control of a Milling Machine

1976 ◽  
Vol 98 (1) ◽  
pp. 239-245 ◽  
Author(s):  
R. Bedini ◽  
G. G. Lisini ◽  
P. C. Pinotti
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Experimental Research ◽  
Metal Cutting ◽  
Adaptive Controller ◽  
Milling Machine ◽  
Adaptive Control System ◽  
Transient Conditions ◽  
Air Gaps ◽  
Process Computer

The paper describes a theoretical and experimental research on adaptive control of the metal-cutting process. Results of experiments performed in various cutting conditions on a milling machine connected to a process computer acting as adaptive controller are reported. The behavior of the adaptive control system in stationary and transient conditions and in presence of air gaps has been tested and the results are discussed.

scholarly journals The MRAC based-adaptive control system for controlling the speed of direct current motor

2020 ◽  
Vol 19 (2) ◽  
pp. 723
Author(s):  
Manh-Cuong Nguyen ◽  
Duc-Phuc Vuong ◽  
Trong-Thang Nguyen
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Direct Current ◽  
Reference Model ◽  
Control Object ◽  
Adaptive Controller ◽  
Adaptive Control System ◽  
Control Loop ◽  
Control Loops

<p><span>This research aims to propose an adaptive control system for controlling the speed of the Direct Current (DC) motor. The system consists of two control loops: the first control loop is a traditional PID controller and the second control loop is an adaptive controller. The role of the adaptive controller is adjusting the output of the control object follows with the output of the reference model. The adjustment mechanism is very simple, but the quality of the whole system is very high: the conversion time is short and there isn't overshoot. The quality of the proposed adaptive control system is also compared to the traditional PID control system to show the advantages of the new system.</span></p>

Design of a Robust Model Reference Adaptive Control System

2012 ◽  
Vol 236-237 ◽  
pp. 976-980
Author(s):  
Xiu Chun Zhao ◽  
Guo Kai Xu ◽  
Tao Zhang ◽  
Ping Su Ge
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Adaptive Control System ◽  
External Disturbances ◽  
Robust Model ◽  
Robust Adaptive ◽  
Model Reference Adaptive ◽  
Adaptive Control Law

This paper addresses a robust adaptive control system based on Popov hyper-stability theory, which has strong robustness for the particular structure. Introducing the error between model and controlled object into adaptive controller, the system has accurate tracking capability and the convergence even in the presence of external disturbances and uncertainties. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with PID control.

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