scholarly journals Issues of Designing a Model Adaptive Controller Without a State Observer

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Najmaddin Abo Mosali ◽  
◽  
Syariful Syafiq Shamsudin ◽  
Keyword(s):  
Adaptive Control ◽  
Nonlinear Dynamical System ◽  
Adaptive Controller ◽  
State Observer ◽  
The State ◽  
Nonlinear Dynamical ◽  
Control Techniques ◽  
Uncertainty Model ◽  
Classical Control ◽  
Model Reference Adaptive

It can be challenging to develop a controller using conventional techniques for a plant with a linear or nonlinear dynamical system or model uncertainty. Model adaptive control is a new alternative to classical control techniques and a simple way to update controller parameters. Because model reference adaptive control is unable to anticipate the state in real time if the state observer is not designed with, we will review some of the most major disadvantages of the most commonly used design techniques without state observer in this work.

The Design of a Signal Synthesis Model Reference Adaptive Control System for Linear Unknown Plants

1977 ◽  
Vol 99 (2) ◽  
pp. 123-129 ◽  
Author(s):  
P. N. Nikiforuk ◽  
M. M. Gupta ◽  
K. Tamura
Keyword(s):  
Adaptive Control ◽  
Linear Time ◽  
Adaptive Controller ◽  
General Concept ◽  
Model Reference Adaptive Control ◽  
The State ◽  
Model Reference ◽  
Control Techniques ◽  
Signal Synthesis ◽  
Model Reference Adaptive

In this paper, a design of a signal synthesis adaptive controller for a class of linear time-varying uncertain plants using model reference adaptive control techniques is presented. Following a discussion of the general concept, the design of an adaptive controller for unconstrained and constrained control conditions is given. The small ultimate boundness of the state error is considered as the adaptation criterion, which is shown to be satisfied by a Liapunov type stability theorem. To handle the uncertainties that are associated with the plant dynamics and its environment, a min-max concept is employed in the design of the controller. The signal synthesis adaptive approach presented in this paper does not require as many structural assumptions as do most other adaptive approachers, and this is its principal advantage. The state vectors of the plant and model are assumed to be both accessible. Some simulation results are presented which illustrate the effectiveness of the design given here.

scholarly journals Fractional order adaptive MRAC controller for an active suspension system

2020 ◽  
Vol 5 (2) ◽  
pp. 112-117
Author(s):  
SEIF EDDINE KHELAS ◽  
SAMIR LADACI ◽  
YASSINE BENSAFIA
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Order Parameter ◽  
Active Suspension ◽  
Adaptive Controller ◽  
Suspension System ◽  
Conventional Model ◽  
Control Schemes ◽  
Classical Control ◽  
Model Reference Adaptive

This paper investigates the use of fractional order operators in conventional model reference adaptive control (MRAC). A fractional adaptive controller is designed based on the use of a fractional-order parameter adjustment rule. Applied in numerical simulations for an active suspension system and compared with the conventional MRAC, it is shown that the performances of FOMRAC are superior to classical control schemes.

scholarly journals Experimental Investigation of Adaptive Control Applied to HSFD Supported Rotors

1999 ◽  
Author(s):  
A. El-Shafei ◽  
M. El-Hakim
Keyword(s):  
Experimental Investigation ◽  
Adaptive Control ◽  
Reference Model ◽  
Computer Control ◽  
Adaptive Controller ◽  
Superior Performance ◽  
Order System ◽  
Squeeze Film ◽  
Run Up ◽  
Model Reference Adaptive

This paper describes the experimental application of adaptive control to Hybrid Squeeze Film Damper (HSFD) supported rotors. The HSFD has been shown to be an adaptive damper capable of providing infinite damper configurations between short and long damper configurations. Previously, theoretical investigations of the adaptive control of HSFD concentrated on the development of the model reference adaptive control (MRAC) method, as well as development of a nonlinear reference model. Simulations of the performance of the adaptive controller during run-up and coast-down indicated the superior performance of the adaptive controller. In this paper, the adaptive controller is tested on a multi-mode rotor. A test rig is designed and developed using computer control. A simple reference model is investigated consisting of a second order system. Three forms for adaptation gain are studied. The results of the experimental investigation illustrated the performance capabilities of the adaptive controller applied to the HSFD, and moreover indicated the possibility of simple design for the adaptive controller.

An Adaptively Controlled Electrohydraulic Servo-Mechanism: Part 1: Adaptive Controller Design

1987 ◽  
Vol 201 (3) ◽  
pp. 175-180 ◽  
Author(s):  
K A Edge ◽  
K R A Figueredo
Keyword(s):  
Adaptive Control ◽  
Controller Design ◽  
Control Design ◽  
Adaptive Controller ◽  
Adaptive Control System ◽  
Sampled Data ◽  
Robust Controller ◽  
Servo Mechanism ◽  
Control Scheme ◽  
Model Reference Adaptive

A systematic model reference adaptive control design scheme is presented. The control scheme is developed and analysed within the framework of a sampled data system with a parameter adaptive algorithm designed on the basis of hyper stability theory. A number of supervisory functions are used to supplement the basic adaptive control system in order to enhance robust controller action.

Experimental Investigation of Adaptive Control Applied to HSFD Supported Rotors

2000 ◽  
Vol 122 (4) ◽  
pp. 685-692 ◽  
Author(s):  
A. El-Shafei ◽  
M. El-Hakim
Keyword(s):  
Experimental Investigation ◽  
Adaptive Control ◽  
Reference Model ◽  
Computer Control ◽  
Adaptive Controller ◽  
Superior Performance ◽  
Order System ◽  
Squeeze Film ◽  
Run Up ◽  
Model Reference Adaptive

This paper describes the experimental application of adaptive control to Hybrid Squeeze Film Damper (HSFD) supported rotors. The HSFD has been shown to be an adaptive damper capable of providing infinite damper configurations between short and long damper configurations. Previously, theoretical investigations of the adaptive control of HSFD concentrated on the development of the model reference adaptive control (MRAC) method, as well as development of a nonlinear reference model. Simulations of the performance of the adaptive controller during run-up and coast-down indicated the superior performance of the adaptive controller. In this paper, the adaptive controller is tested on a multi-mode rotor. A test rig is designed and developed using computer control. A simple reference model is investigated consisting of a second order system. Three forms for adaptation gain are studied. The results of the experimental investigation illustrated the performance capabilities of the adaptive controller applied to the HSFD, and moreover indicated the possibility of simple design for the adaptive controller. [S0742-4795(00)01603-3]

The Research of Electro-Hydraulic Proportional Control on Copper Anode Lifting Platform

2012 ◽  
Vol 233 ◽  
pp. 172-176
Author(s):  
Zhi Fei Peng ◽  
Rui Bo Yuan ◽  
Jing Luo ◽  
Rong Li
Keyword(s):  
Adaptive Control ◽  
Pid Control ◽  
Simulation Models ◽  
Mathematic Model ◽  
Adaptive Controller ◽  
Hydraulic Cylinder ◽  
Copper Anode ◽  
Working Principle ◽  
Hyperstability Theory ◽  
Model Reference Adaptive

This paper introduces the structure and working principle of the designed copper anode lifting platform. According to the actual working conditions and the structure of the lifting device, hydraulic system of electro-hydraulic proportional synchronous lifting device is designed and its working principle is analyzed. This paper takes the electro-hydraulic synchronization system as a research subject, whose mathematic model is established. To solve the synchronization accuracy of the hydraulic cylinder movement in the lifting process, a model reference adaptive controller is designed which is based on hyperstability theory. Both system simulation models of traditional PID control and adaptive control are established respectively in the software of Matlab/Simulink. Through the simulation result we can learn that adaptive control is batter than the PID control. Two hydraulic cylinders synchronization error is less than 0.02mm.

Experimental evaluation of a model reference adaptive control for a hydraulic robot: a case study

Robotica ◽  
2003 ◽  
Vol 21 (1) ◽  
pp. 71-78 ◽  
Author(s):  
Ali Kireçci ◽  
Mehmet Topalbekiroglu ◽  
İlyas Eker
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Computational Time ◽  
Position Tracking ◽  
Control Input ◽  
Model Reference ◽  
Solution Methods ◽  
The Stability ◽  
Classical Control ◽  
Model Reference Adaptive

This paper presents the implementation of an explicit model reference adaptive control (MRAC) for position tracking of a dynamically unknown robot. An auto regressive exogenous (ARX) model is chosen to define the plant model and the control input is optimised in a H2 norm to reduce computational time and to simplify the algorithm. The theory of MRAC falls into a description of the various forms of controllers and parameter estimation techniques, therefore, applications may require very complicated solution methods depending on the selected laws. However, in this study, the proposed MRAC shows that applications may be as easy as classical control methods, such as PID, by guaranteeing the stability and achieving the convergency of the plant parameters. Despite the selected simple control model, simple optimisation method and drawbacks of the robot the experimental results show that MRAC provides an excellent position tracking compared with conventional control (PID). Many experimental implementations have been done on the robot and one of them is included in the paper.

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