Robust Adaptive Control in the Presence of Unmodeled Actuator Dynamics

2013 ◽  
Author(s):  
Jovan Boskovic ◽  
Joseph A. Jackson ◽  
Raman Mehra
Keyword(s):  
Adaptive Control ◽  
Robust Adaptive Control ◽  
Actuator Dynamics ◽  
Robust Adaptive

Robust Adaptive Control for Vision-Based Stabilization of a Wheeled Humanoid Robot

2016 ◽  
Vol 13 (03) ◽  
pp. 1650010 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S. Dai
Keyword(s):  
Adaptive Control ◽  
Humanoid Robot ◽  
Controller Design ◽  
Robust Adaptive Control ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Robot Kinematics ◽  
Unknown Parameters ◽  
Actuator Dynamics ◽  
Robust Adaptive

A significant amount of work has been reported in the area of vision-based stabilization of wheeled robots during the last decade. However, almost all the contributions have not considered the actuator dynamics in the controller design. Considering the unknown parameters of the robot kinematics and dynamics incorporating the actuator dynamics, this paper presents a vision-based robust adaptive controller for the stabilization of a wheeled humanoid robot by using the adaptive backstepping approach. For the controller design, the idea of backstepping is used and the adaptive control technique is applied to treat all parametric uncertainties. Moreover, to attenuate the effect of the external disturbances on control performance, smooth robust compensators are employed. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to verify the effectiveness of the proposed controller.

scholarly journals Robust Fractional Adaptive Control Based on the Strictly Positive Realness Condition

2009 ◽  
Vol 19 (1) ◽  
pp. 69-76 ◽  
Author(s):  
Samir Ladaci ◽  
Abdelfatah Charef ◽  
Jean Loiseau
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Robust Adaptive Control ◽  
Adaptive Controllers ◽  
Actuator Dynamics ◽  
Control Scheme ◽  
Positive Realness ◽  
Robust Adaptive ◽  
Model Reference Adaptive ◽  
Strictly Positive Realness

Robust Fractional Adaptive Control Based on the Strictly Positive Realness ConditionThis paper presents a new approach to robust adaptive control, using fractional order systems as parallel feedforward in the adaptation loop. The problem is that adaptive control systems may diverge when confronted with finite sensor and actuator dynamics, or with parasitic disturbances. One of the classical robust adaptive control solutions to these problems makes use of parallel feedforward and simplified adaptive controllers based on the concept of positive realness. The proposed control scheme is based on the Almost Strictly Positive Realness (ASPR) property of the plant. We show that this condition implies also robust stability in the case of fractional order controllers. An application to Model Reference Adaptive Control (MRAC) with a fractional order adaptation rule is provided with an implementable algorithm. A simulation example of a SISO robust adaptive control system illustrates the advantages of the proposed method in the presence of disturbances and noise.

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