scholarly journals Integrated, Multi-Approach, Adaptive Control of Two-Mass Drive with Nonlinear Damping and Stiffness

Energies ◽  
2021 ◽  
Vol 14 (17) ◽  
pp. 5475
Author(s):  
Jacek Kabziński ◽  
Przemysław Mosiołek
Keyword(s):  
Position Control ◽  
Tracking Error ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Nonlinear Damping ◽  
Lyapunov Techniques ◽  
Torque Transmission ◽  
Adaptive Laws ◽  
Robust Adaptive ◽  
Drive Systems

In numerous electric drive applications, the mechanical phenomena in the velocity or position control loop determine real difficulties and challenges for the control system. So-called two-mass drive systems with a flexible shaft are the most important example of this situation. The problem becomes even more difficult if the characteristics of torque transmission along the shaft are nonlinear, nonlinear friction is present, and the plant parameters are unknown, as it happens in numerous robotic systems. A novel adaptive controller is derived for such a system. The recurrent design procedure is based on proper modifications of the adaptive backstepping scheme, including non-strict-feedback plant application, tuning functions to exclude controller overparameterization, robust adaptive laws, proper means to avoid controller complexity explosion, and a nonlinear PI controller in the initial loop to minimize quasi-steady-state tracking error. The closed-loop system uniform ultimate boundedness is proven using Lyapunov techniques and the design and tuning procedures are described. The attractive features of the obtained drive, including the robustness against the violation of assumptions, are presented using several examples.

scholarly journals Neural Networks Approximator Based Robust Adaptive Controller Design of Hypersonic Flight Vehicles Systems Coupled with Stochastic Disturbance and Dynamic Uncertainties

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Guoqiang Zhu ◽  
Lingfang Sun ◽  
Xiuyu Zhang
Keyword(s):  
Controller Design ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Stochastic Disturbance ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Uncertain Dynamics ◽  
Robust Adaptive ◽  
And Performance ◽  
Dynamic Uncertainties

A neural network robust control is proposed for a class of generic hypersonic flight vehicles with uncertain dynamics and stochastic disturbance. Compared with the present schemes of dealing with dynamic uncertainties and stochastic disturbance, the outstanding feature of the proposed scheme is that only one parameter needs to be estimated at each design step, so that the computational burden can be greatly reduced and the designed controller is much simpler. Moreover, by introducing a performance function in controller design, the prespecified transient and performance of tracking error can be guaranteed. It is proved that all signals of closed-loop system are uniformly ultimately bounded. The simulation results are carried out to illustrate effectiveness of the proposed control algorithm.

Composite adaptive posicast controller for the wing rock phenomenon in a delta-wing aircraft

2019 ◽  
Vol 233 (15) ◽  
pp. 5579-5591
Author(s):  
Amir Yousefimanesh ◽  
Alireza Khosravi ◽  
Pouria Sarhadi
Keyword(s):  
Delta Wing ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Composite Model ◽  
Input Delay ◽  
Model Reference ◽  
Wing Rock ◽  
Adaptive Laws ◽  
Regulation And Tracking ◽  
Model Reference Adaptive

The nonlinear dynamic phenomenon like wing rock is one of the important issues in the high performance aircraft autopilot design. This phenomenon occurs in the form of constant amplitude oscillations in the roll dynamics, during the flight at high angles of attack (AOAs) and endangers carrying out the mission of an aircraft. In this paper, a composite adaptive posicast controller is designed for the wing rock phenomenon in a delta-wing aircraft with known input delay. The existence of the input delay besides the parametric uncertainties of the system dynamics adds to the complexity of the problem and can cause undesirable troubles in regulation and tracking performance or instability in the control system. Consequently, there is a need for a controller that can provide the stability and desirable regulation and tracking for the system. The proposed control method uses the system state forecasting and the composite model reference adaptive controller in an integrated control structure based on linear quadratic regulator (LQR). Combining the tracking error and the prediction error to form the adaptive laws in the composite model reference adaptive controller improves the characteristics of the system response and provides a better performance compared to the model reference adaptive controller in which the adaptive laws are formed only with the tracking error. Simulation results show the efficiency of the composite adaptive posicast controller in counteracting the system uncertainties in the presence of considerably large input delay cases.

scholarly journals Robust Adaptive Dynamic Surface Control for a Class of Nonlinear Dynamical Systems with Unknown Hysteresis

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Yong-Hua Liu ◽  
Ying Feng ◽  
Xinkai Chen
Keyword(s):  
Controller Design ◽  
Nonlinear Dynamical Systems ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Negative Effects ◽  
Dynamic Surface ◽  
Surface Control ◽  
Robust Adaptive

The output tracking problem for a class of uncertain strict-feedback nonlinear systems with unknown Duhem hysteresis input is investigated. In order to handle the undesirable effects caused by unknown hysteresis, the properties in respect to Duhem model are used to decompose it as a nonlinear smooth term and a nonlinear bounded “disturbance-like” term, which makes it possible to deal with the unknown hysteresis without constructing inverse in the controller design. By combining robust control and dynamic surface control technique, an adaptive controller is proposed in this paper to avoid “the explosion complexity” in the standard backstepping design procedure. The negative effects caused by the unknown hysteresis can be mitigated effectively, and the semiglobal uniform ultimate boundedness of all the signals in the closed-loop system is obtained. The effectiveness of the proposed scheme is validated through a simulation example.

An Robust Adaptive Control Scheme for Hydraulic Servo Systems

2006 ◽  
Author(s):  
Torben Ole Andersen ◽  
Michael Ryygaard Hansen
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Region Of Attraction ◽  
Control Scheme ◽  
Whole Space ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Adaptive Control Scheme

The paper looks into Model Reference Adaptive Control (MRAC) based on a linear plant model with constant or slowly varying parameters. The actual plant is non-linear, of a higher model order, subjected to time-varying bounded disturbances, and the measured values may be corrupted by noise. These problems are explored and the adaptive algorithms are modified to counteract instability mechanisms and for improved robustness with respect to bounded disturbances and non-modeled dynamics. The adaptive controller identifies the dominant dynamics and uses feedforward to provide anticipative actions in tracing task while an adaptive feedback part stabilizes the tracking error dynamics. Also the effects of non-modeled high frequency dynamics and bounded disturbances on stability and performance are analyzed. The adaptive control scheme is robust in the sense that it guarantees the existence of a large region of attraction from which all the trajectories remain bounded. The size of the region of attraction depends on the non-modeled dynamics in such a way that if the non-modeled dynamics is infinitely fast, the region of attraction becomes the whole space. Simulation and experimental results are presented and discussed to demonstrate the strength of the proposed algorithm.

scholarly journals An Improved Robust Adaptive Controller for a Fed-Batch Bioreactor with Input Saturation and Unknown Varying Control Gain via Dead-Zone Quadratic Forms

Computation ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 100
Author(s):  
Alejandro Rincón ◽  
Gloria María Restrepo ◽  
Óscar J. Sánchez
Keyword(s):  
Distinctive Feature ◽  
Quadratic Forms ◽  
Dead Zone ◽  
Tracking Error ◽  
Input Saturation ◽  
Adaptive Controller ◽  
Fed Batch ◽  
Batch Bioreactor ◽  
Control Gain ◽  
Robust Adaptive

In this work, a new adaptive controller is designed for substrate control of a fed-batch bioreactor in the presence of input saturation and unknown varying control gain with unknown upper and lower bounds. The output measurement noise and the unknown varying nature of reaction rate and biomass concentration and water volume are also handled. The design is based on dead zone quadratic forms. The designed controller ensures the convergence of the modified tracking error and the boundedness of the updated parameters. As the first distinctive feature, a new robust adaptive auxiliary system is proposed in order to tackle input saturation and control gain uncertainty. As the second distinctive feature, the modified tracking error converges to a compact region whose bound is user-defined, in contrast to related studies where the convergence region depends on upper bounds of either external disturbances, system states, model parameters or terms and model parameter values. Simulations confirm the properties of the closed loop behavior.

scholarly journals Robust Control of Disturbed Fractional-Order Economical Chaotic Systems with Uncertain Parameters

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Song Xu ◽  
Hui Lv ◽  
Heng Liu ◽  
Aijing Liu
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Control Method ◽  
Dynamical Behavior ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Small Region ◽  
Adaptive Parameters ◽  
Robust Adaptive ◽  
Robust Adaptive Controller

This paper focuses on the robust control of fractional-order economical chaotic system (FOECS) with parametric uncertainties and external disturbances. The dynamical behavior of FOECS is studied by numerical simulation, and circuit implementations of FOECS are also given. Based on fractional-order Lyapunov stability theorems, a robust adaptive controller, which can guarantee that all signals remain bounded and the tracking error tends to a small region, is designed. The proposed method can be used to control a large range of fractional-order systems with system uncertainties. Fractional-order adaptation laws are constructed to update the estimation of adaptive parameters. Finally, the robustness and effectiveness of our control method are indicated by simulation results.

Sign in / Sign up

Export Citation Format

Share Document