Composite adaptive control for Euler–Lagrange systems with additive disturbances

Automatica ◽  
2010 ◽  
Vol 46 (1) ◽  
pp. 140-147 ◽  
Author(s):  
Parag M. Patre ◽  
William MacKunis ◽  
Marcus Johnson ◽  
Warren E. Dixon
Keyword(s):  
Adaptive Control ◽  
Composite Adaptive Control

Composite adaptive control based on historical data for electro-hydraulic system driven by dual servo motor-pump with unknown disturbance

2021 ◽  
pp. 095965182199860
Author(s):  
Xiaofu Zhang ◽  
Guanglin Shi
Keyword(s):  
Adaptive Control ◽  
Hydraulic System ◽  
Historical Data ◽  
Tracking Performance ◽  
Load Force ◽  
Position Tracking ◽  
Servo Motor ◽  
Estimated Parameters ◽  
Unknown Disturbance ◽  
Composite Adaptive Control

This article presents a composite adaptive control method to improve the position-tracking performance of an electro-hydraulic system driven by dual constant displacement pump and dual servo motor named as a novel electro-hydraulic system with unknown disturbance. A composite adaptive controller based on backstepping method is designed to estimate the uncertainties of electro-hydraulic control system, including the damping coefficient and elastic modulus. In order to release the persistent excitation condition of conventional adaptive control, which is often infeasible in practice, a prediction error based on the online historical data is used to update the estimated parameters. Furthermore, a disturbance observer is used to estimate the disturbance including the unmeasurable load force, friction and other unmodeled disturbance. The experiment results are provided and compared with other methods to verify the effectiveness of the proposed method, and the results have indicated that the proposed method has a better position-tracking performance with the convergent estimated parameters.

Composite adaptive control of robot manipulators

Automatica ◽  
1989 ◽  
Vol 25 (4) ◽  
pp. 509-519 ◽  
Author(s):  
Jean-Jacques E. Slotine ◽  
Weiping Li
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Composite Adaptive Control

scholarly journals Composite adaptive control with locally weighted statistical learning

2005 ◽  
Vol 18 (1) ◽  
pp. 71-90 ◽  
Author(s):  
Jun Nakanishi ◽  
Jay A. Farrell ◽  
Stefan Schaal
Keyword(s):  
Adaptive Control ◽  
Statistical Learning ◽  
Composite Adaptive Control

scholarly journals RISE-Based Composite Adaptive Control of Electro-Hydrostatic Actuator with Asymptotic Stability

Machines ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 181
Author(s):  
Yaowen Ge ◽  
Xiaowei Yang ◽  
Wenxiang Deng ◽  
Jianyong Yao
Keyword(s):  
Adaptive Control ◽  
Tracking Performance ◽  
System Stability ◽  
Unmodeled Dynamics ◽  
Tracking Accuracy ◽  
Adaptive Law ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Composite Adaptive Control ◽  
Parameter Adaptive

The electro-hydrostatic actuator (EHA), the actuator of electric drive and hydraulic transmission, is competitive since it is small in size, light in weight and high in power density. However, the existence of the velocity loop error of servo motors, unmodeled dynamics and highly nonlinear uncertainties restrict the improvement of the tracking accuracy of the EHA system. In order to achieve high-precision motion control of EHAs, a RISE-based composite adaptive control scheme is proposed in this paper. In the proposed composite adaptive control design, a novel parameter adaptive law is synthesized to compensate for the parametric uncertainties and a robust integral of the sign of error (RISE) feedback is utilized to suppress the adverse effects caused by the lumped disturbances, including the velocity loop error of a servo motor and other unmodeled dynamics. The synthesized parameter adaptive law possesses the advantage of fast convergence, which is beneficial to achieve transient tracking performance improvement. In addition, the proposed controller is more suitable for practical applications since it is chattering free. The closed-loop system stability analysis shows that the proposed control scheme guarantees an excellent asymptotic tracking performance. Finally, comparative simulations are conducted to verify the high-performance nature of the proposed controller.

scholarly journals Composite Adaptive Control of Teleoperators With Joint Flexibility, Uncertain Parameters, and Time-Delays

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 115673-115681
Author(s):  
Yuling Li ◽  
Chang Li ◽  
Jie Dong ◽  
Jing Li ◽  
Yixin Yin
Keyword(s):  
Adaptive Control ◽  
Time Delays ◽  
Uncertain Parameters ◽  
Joint Flexibility ◽  
Composite Adaptive Control
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