scholarly journals Adaptive Control for Quadrotors with Uncertain and Faulty Actuators

2021 ◽  
Author(s):  
Qi Han ◽  
Xiangbin Liu ◽  
Zhitao Liu ◽  
Hongye Su
Keyword(s):  
Adaptive Control ◽  
Steady State ◽  
Fault Tolerant ◽  
Control Strategies ◽  
Adaptive Controllers ◽  
Immersion And Invariance ◽  
Control Schemes ◽  
Simulation And Experiment ◽  
Actuator System ◽  
Backstepping Controller

Abstract Two adaptive control strategies are presented in this paper for two types of quadrotors to cope with potential uncertainties and faults in the actuator system. The four actuators of the considered quadrotors are distinct and suffered from loss of effectiveness (LOE) as well. To accomandate unknown actuator parameters, a filter-based immersion and invariance (I&I) adaptive controllers are designed for attitude and altitude subsystems, respectively, and an integral backstepping controller is developed for the horizontal subsystem to achieve null steady-state error. Both simulation and experiment results are carried out to illustrate the effectiveness of trajectory tracking performance and fault-tolerant accomondation ability of the proposed control schemes.

scholarly journals Design and Comparative Study of Advanced Adaptive Control Schemes for Position Control of Electronic Throttle Valve

Information ◽  
2019 ◽  
Vol 10 (2) ◽  
pp. 65 ◽  
Author(s):  
Amjad Humaidi ◽  
Akram Hameed
Keyword(s):  
Adaptive Control ◽  
Position Control ◽  
Sliding Mode ◽  
Angular Position ◽  
Estimation Errors ◽  
Electronic Throttle ◽  
Control Schemes ◽  
Backstepping Controller ◽  
Matlab Package ◽  
The Stability

This paper investigates the performance of two different adaptive control schemes for controlling the angular position of an electronic throttle (ET) plate. The adaptive backstepping controller and adaptive sliding mode backstepping controller are the controllers under consideration. The control design based on these adaptive controllers is firstly addressed and the stability analysis of each controller has been presented and the convergence of both position and estimation errors for both controllers have been proved. A comparison study of the performance of both controllers has been conducted in terms of system transient characteristics and the behavior of their associated adaptive gain. The simulation has been implemented within the environment of the MATLAB package.

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.

Modified Model-Free Adaptive Control Method Applied to Vibration Control of an Elastic Crane

2019 ◽  
Author(s):  
Hoang Anh Pham ◽  
Dirk Söffker
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Structural Information ◽  
Control Strategies ◽  
Control Input ◽  
Tracking Errors ◽  
Adaptive Controllers ◽  
Control Approach ◽  
Model Free ◽  
Controlled Systems

Abstract Model-free adaptive control (MFAC) is a data-driven control approach receiving increased attention in the last years. Different model-free-based control strategies are proposed to design adaptive controllers when mathematical models of the controlled systems should not be used or are not available. Using only measurements (I/O data) from the system, a feedback controller is generated without the need of any structural information about the controlled plant. In this contribution an improved MFAC is discussed for control of unknown multivariable flexible systems. The main improvement in control input calculation is based on the consideration of output tracking errors and its variations. A new updated control input algorithm is developed. The novel idea is firstly applied for controlling vibrations of a MIMO ship-mounted crane. The control efficiency is verified via numerical simulations. The simulation results demonstrate that vibrations of the elastic boom and the payload of the crane can be reduced significantly and better control performance is obtained when using the proposed controller compared to standard model-free adaptive and PI controllers.

Adaptive Control of Multivariable Processes With Two Sampling Frequencies

1990 ◽  
Vol 112 (4) ◽  
pp. 782-783
Author(s):  
Qiusheng Zhang
Keyword(s):  
Adaptive Control ◽  
Steady State ◽  
Control Algorithm ◽  
Industrial Processes ◽  
Tracking Errors ◽  
Time Constants ◽  
First Order ◽  
Control Schemes ◽  
Computationally Intensive ◽  
Adaptive Control Algorithm

An adaptive control algorithm with two sampling frequencies was proposed in Zhang and Tomizuka (1988). The algorithm is less computationally intensive than regular adaptive control schemes when controlling those first-order multivariable industrial processes in which two groups of subsystems have separate time constants. In this case the steady-state errors are bounded by a deadzone. This note improves this result by using a better-designed deadzone, thus leading to smaller tracking errors.

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.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

A Survey on Brachiation Robots: An Energy-Based Review

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Sibyla Andreuchetti ◽  
Vinícius M. Oliveira ◽  
Toshio Fukuda
Keyword(s):  
Special Class ◽  
Control Strategies ◽  
Underactuated Systems ◽  
Decision Variable ◽  
Robot Dynamics ◽  
Technical Literature ◽  
Control Schemes

SUMMARY Many different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable. To observe the behavior of the system’s, energy is very important for a better understanding of the robot dynamics while performing the motion. This paper discusses a variety of energy-based strategies to better understand how the system’s energy may influence the type of motion (under-swing or overhand) the robot should perform.

Sign in / Sign up

Export Citation Format

Share Document