Adaptive Control of a Surface Ship at High Speed Using Neural Networks

2012 ◽  
Vol 571 ◽  
pp. 518-523
Author(s):  
Li Dong Guo ◽  
Li Xin Yang
Keyword(s):  
Adaptive Control ◽  
High Speed ◽  
Synthesis Method ◽  
Control Synthesis ◽  
Lyapunov Theorem ◽  
Nonlinear Characteristics ◽  
Surface Ship ◽  
Hydrodynamic Damping ◽  
Control Scheme ◽  
The Stability

An adaptive control synthesis method is considered, which forces a surface ship at high speed to track a desired path. The nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, the unknown part of the tracking dynamics system is approximated by neural network. The stability analysis will be given by Lyapunov theorem. Numerical simulations illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme.

scholarly journals The Driving Pipeline: A Pipelined Architecture for Outdoor Mobile Robots

1992 ◽  
Vol 4 (3) ◽  
pp. 237-248
Author(s):  
Yoshimasa Goto ◽  
Keyword(s):  
Adaptive Control ◽  
Computer Architecture ◽  
High Speed ◽  
Control Parameters ◽  
Pipelined Architecture ◽  
Control Scheme ◽  
Robot Systems ◽  
Vehicle Motion ◽  
Execution Management ◽  
High Level

The Driving Pipeline is a driving control scheme for a mobile robot that drives the robot vehicle outdoors continuously and adaptively. Although the basic idea of the Driving Pipeline originates from a pipelined computer architecture, the Driving Pipeline adopts more complex execution management for adaptive vehicle motion. Like the pipelined computer architecture, the Driving Pipeline segments necessary computation for robot vehicle motion into several successive subprocesses and executes them on the pipelined processing modules that operate in parapel. Because of this pipelined architecture, the Driving Pipeline offers high computation performance, and then vehicle's high speed and continuous motion. Unlike the pipelined computer architecture, however, the Driving Pipeline adjusts execution cycles in order to adapt vehicle motion both to driving environment and computation resources in robot systems. For adaptive control, the Driving Pipeline introduces control parameters and defines required relations among them. Because of the explicit control scheme, the Driving Pipeline not only enables adaptive control but also analyzes the robot navigation. The Driving Pipeline illustrates mid level navigation between the driving control and the high level map navigation. Introducing this navigation layer offers more adaptability to the environment.

Integrated Modified Repetitive Control With Disturbance Observer of Piezoelectric Nanopositioning Stages for High-Speed and Precision Motion

2019 ◽  
Vol 141 (8) ◽  
Author(s):  
Zhao Feng ◽  
Jie Ling ◽  
Min Ming ◽  
Xiaohui Xiao
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
External Disturbance ◽  
Repetitive Control ◽  
Optimization Procedure ◽  
Tracking Performance ◽  
Hysteresis Nonlinearity ◽  
Control Scheme ◽  
The Stability ◽  
Precision Motion

The tracking performance of piezoelectric nanopositioning stages is vital in many applications, such as scanning probe microscopes (SPMs). Although modified repetitive control (MRC) can improve tracking performance for commonly used periodic reference input, it is sensitive to unexpected disturbances that deteriorate tracking precision, especially for high-speed motion. In order to achieve high-speed and precision motion, in this paper, a new composite control scheme by integrating MRC with disturbance observer (DOB) is developed. To simplify controller implementation, the hysteresis nonlinearity is treated as external disturbance and the proposed method is designed in frequency domain. The stability and robust stability are analyzed, and an optimization procedure to calculate the controller parameters is employed to enhance the performance to the maximum extent. To validate the effectiveness of the proposed method, comparative experiments are performed on a piezoelectric nanopositioning stage. Experimental results indicate that the hysteresis is suppressed effectively and the proposed method achieves high-speed and precision tracking with triangular waves references up to 25 Hz and improves the disturbance rejection ability with disturbances under different frequencies and robustness to model uncertainty through comparing with feedback controllers and MRC, respectively.

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

Adaptive Control of Uncertain Gun Control System of Tank

2011 ◽  
Vol 88-89 ◽  
pp. 88-92 ◽  
Author(s):  
Lu Juan Shen ◽  
Ye Bao ◽  
Jian Ping Cai
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Gun Control ◽  
Control Law ◽  
Uncertain Parameters ◽  
Simulation Studies ◽  
Closed Loop System ◽  
Control Scheme ◽  
The Stability ◽  
Adaptive Control Law

In this paper, a class of gun control system of tank is considered with uncertain parameters and the backlash-like hysteresis which modeled by a differential equation. An adaptive control law is designed with backstepping technique. Compared to exist results on tank gun control problem , in our control scheme, the effect of backlash hysteresis is considered completely than to be linearized simply and no knowledge is assumed on the uncertain parameters. the stability of closed loop system and the tracking performance can be guaranteed by this control law. Simulation studies show that this controller is effective.

Finite-time adaptive control for the dual-arm space robots with uncertain kinematics, dynamics and deadzone nonlinearities

2021 ◽  
pp. 095440622199383
Author(s):  
Bowen Zhan ◽  
Minghe Jin ◽  
Guocai Yang ◽  
Bincheng Huang
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Finite Time ◽  
Jacobian Matrix ◽  
Parameters Estimation ◽  
Space Robots ◽  
Control Scheme ◽  
The Stability ◽  
Approximate Jacobian ◽  
Dual Arm

Dual-arm space robots are capable of load transporting and coordinated manipulation for on-orbit servicing. However, achieving the accurate trajectory tracking performance is a big challenge for dual-arm robots, especially when mechanical system uncertainties exist. This paper proposes an adaptive control scheme for the dual-arm space robots with grasped targets to accurately follow trajectories while stabilizing base’s attitude in the presence of dynamic uncertainties, kinematic uncertainties and deadzone nonlinearities. An approximate Jacobian matrix is utilized to compensate the kinematic uncertainties, while a radial basis function neural network (RBFNN) with feature decomposition technique is employed to approximate the unknown dynamics. Besides, a smooth deadzone inverse is introduced to reduce the effects from deadzone nonlinearities. The adaption laws for the parameters of the approximate Jacobian matrix, RBFNN and the deadzone inverse are designed with the consideration of the finite-time convergence of trajectory tracking errors as well as the parameters estimation. The stability of the control scheme is validated by a defined Lyapunov function. Several simulations were conducted, and the simulation results verified the effectiveness of the proposed control scheme.

H∞ Vibration Control of Active Suspension for High-Speed Train

1995 ◽  
Vol 7 (4) ◽  
pp. 319-323
Author(s):  
Akihiko Shimura ◽  
◽  
Kazuo Yoshida
Keyword(s):  
Vibration Control ◽  
High Speed ◽  
Synthesis Method ◽  
Active Suspension ◽  
The Body ◽  
Dynamical Analysis ◽  
Control Synthesis ◽  
Ride Quality ◽  
High Speed Train ◽  
Hydraulic Actuator

In this paper, H∞ control theory and <I>μ</I> synthesis are applied to vibration control of active suspension for high speed train. A linear 58th order model is built for the dynamical analysis of the train model. This model takes into account the body, truck frame, wheel, hydraulic actuator, and property of track irregularity. A hydraulic actuator replaces a lateral damper between body and truck frame of the conventional passive suspension train. The controller for vibration control is synthesized by H∞ control synthesis and improved by <I>μ</I> synthesis. The characteristics and performances of the controllers are examined by performing numerical calculations of frequency response and computational simulations. As a result, it is clarified that the active suspension for highspeed train is effective to improve ride quality and that the present synthesis method is useful.

Adaptive Control of Robot Manipulators Including Motor Dynamics

1995 ◽  
Vol 209 (3) ◽  
pp. 207-217
Author(s):  
H Yu ◽  
S Lloyd
Keyword(s):  
Adaptive Control ◽  
Control Structure ◽  
Robot Manipulators ◽  
Control Law ◽  
Task Space ◽  
Control Scheme ◽  
Control Schemes ◽  
The Stability ◽  
Adaptive Control Law ◽  
Motor Dynamics

An adaptive control scheme for robot manipulators including motor dynamics is proposed in this paper. The proposed scheme avoids the assumption that the values of motor parameters are known which is required in reference (13). An exponential control law is first developed under the assumption of no uncertainty. This forms a controller structure for the adaptive control. Using this control structure, a full-order adaptive control law is proposed to overcome parameter uncertainty for both robot link and motor. The stability analysis is in the Lyapunov stability sense. The method is further extended to the task space. Extensive simulations are performed to compare the different control schemes.

Gains Selection for a Variable Gain Adaptive Control System for Turning

1987 ◽  
Vol 109 (4) ◽  
pp. 399-403 ◽  
Author(s):  
Shield Bao-Hsin Lin ◽  
Oren Masory
Keyword(s):  
Adaptive Control ◽  
Data Base ◽  
Process Parameters ◽  
Depth Of Cut ◽  
Sampled Data ◽  
Fast Transient Response ◽  
Control Scheme ◽  
On Line ◽  
Optimal Gains ◽  
The Stability

The adaptive control constraint system described is a nonlinear, sampled data system designed to regulate the cutting force during turning operations. The controller keeps the system stable under wide variations in process parameters, limits the force overshoot, and provides fast transient response. The stability region of the nonlinear system was determined in order to define the boundaries of the gain space within which the optimal gains that minimize the ISE index of performance were selected. As a result, a data base for optimal gains as functions of process parameters was generated. Since in most cases the depth-of-cut changes in an unknown manner, the use of this data base is limited. To overcome this problem, an on-line adaption scheme of the gains was designed to achieve optimal response without the need for depth-of-cut measurements. With this control scheme, a series of simulations were performed that demonstrate excellent response under wide variations of process parameters.

Adaptive Control of Hyper-Chaotic Systems Based on Dynamic Structure RBF Neural Networks

2012 ◽  
Vol 229-231 ◽  
pp. 2311-2314
Author(s):  
Jing Wang ◽  
Hong Xia Gao ◽  
Zhen Yu Tan ◽  
Jin Feng Gao
Keyword(s):  
Neural Networks ◽  
Adaptive Control ◽  
Chaotic Systems ◽  
Closed Loop ◽  
Dynamic Structure ◽  
Rbf Neural Networks ◽  
Closed Loop System ◽  
Control Scheme ◽  
The Stability ◽  
Adaptive Control Scheme

An adaptive control scheme based on neural networks is presented for control of hyper-chaotic systems. Parameters of neural networks and controllers are adjusted automatically to ensure the stability of the closed-loop system. Numerical simulation illustrates that the proposed control scheme is valid for hyper-chaotic system.

Stability Analysis of the Golden Section Adaptive Control Systems for Attitude Keeping of Spacecraft with Unknown Parameters

2011 ◽  
Vol 80-81 ◽  
pp. 1096-1102 ◽  
Author(s):  
Duo Qing Sun
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Direct Method ◽  
Golden Section ◽  
Discrete Systems ◽  
Unknown Parameters ◽  
Adaptive Control Systems ◽  
Control Scheme ◽  
System Equations ◽  
The Stability

All-coefficient golden section adaptive control scheme for attitude keeping of spacecraft with unknown parameters is proposed in this paper. Based on Lyapunov’s direct method for time-variant discrete systems, the paper gives the conditions for the uniform asymptotic stability of the all-coefficient golden section adaptive control system. The given conditions are dependent on the relations between coefficients in the closed-loop system equations and the variable rates of the coefficients. The result in this paper can be used to analyze quantitatively the stability of multivariable time-variant discrete systems. Thus, a theoretical foundation is established to apply the golden section adaptive control method to control specific spacecraft.

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