Adaptive robust control design and experimental demonstration for flexible joint manipulators

<span lang="EN-US">This paper is interested to study power system stability in smart grid power system using wind characteristic in south of Yogyakarta, Indonesia. To overcome the intermittent of wind characteristics, this paper presents adaptive robust control design to enhance power system stabilization. The online identification system is used in this research, which updated whenever the estimated model mismatch exceeds predetermined bounds. Then genetic algorithm (GA) is applied to re-tune parameters controller based on the estimated model. The structure of controller is proportional integral (PI) controller due to the most applicable in industry, simple structure, low cost and high reliability. Robustness of controller is guaranteed by taking system uncertainties into consideration. The performance of the proposed controller has been carried out in a hybrid wind-diesel power system in comparison with previous work controller. Simulation results confirm that damping effect of the proposed controllers are much better that of the conventional controllers against various operating.</span>

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Adaptive Robust Control for a Class of Non-Minimum Phase Nonlinear System

Dynamic Systems and Control, Parts A and B ◽

10.1115/imece2006-15025 ◽

2006 ◽

Cited By ~ 2

Author(s):

Bo Xie ◽

Bin Yao

Keyword(s):

Robust Control ◽

Nonlinear Systems ◽

Tracking Error ◽

Control Design ◽

Adaptive Robust Control ◽

Minimum Phase ◽

Control Approach ◽

Internal States ◽

Robust Control Design ◽

Error Dynamics

The paper presents the state feedback adaptive robust control approach to track the reference input for a class of nonminimum phase nonlinear systems. The key for this approach is to combine the adaptive robust control design techniques and the inputto-state property to deal with a class of non-minimum phase nonlinear systems with unknown parameter and unstructural uncertainties. The control design will guarantee that the tracking error dynamics is stabilized with bounded internal states and the closed-loop system is robust to the unstructural uncertainties.

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Decentralized Adaptive Robust Control Design: The Uncertainty is Time Varying

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2896441 ◽

1991 ◽

Vol 113 (3) ◽

pp. 515-518 ◽

Cited By ~ 6

Author(s):

Y. H. Chen

Keyword(s):

Robust Control ◽

A Priori ◽

Control Design ◽

Statistical Information ◽

Adaptive Robust Control ◽

Interconnected Systems ◽

Time Varying ◽

Adaptive Scheme ◽

Adaptive Parameter ◽

Robust Control Design

We consider a class of nonlinear uncertain interconnected systems with time-varying uncertainty. The uncertainty may arise within each system as well as in the interconnections. The uncertainty is assumed bounded but the bound is unknown. No a priori statistical information is imposed. Decentralized adaptive robust control is proposed for each system. The control has two parts. First, an adaptive scheme for the estimation of the bound is constructed. Second, a robust control, which is based on the adaptive parameter, is adopted for each system.

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