Design of Nonovershoot MRACS With Application to D.C. Servo Motor System

1991 ◽  
Vol 113 (1) ◽  
pp. 75-81 ◽  
Author(s):  
K. Tamura ◽  
K. Ogata ◽  
P. N. Nikiforuk
Keyword(s):  
Adaptive Control ◽  
Motor System ◽  
Position Control ◽  
Input Sequence ◽  
Control Input ◽  
Servo Motor ◽  
Unknown Parameters ◽  
Practical Applications ◽  
Existence Region ◽  
Model Reference Adaptive

Excessive overshoots in a transient response are undesirable in a model reference adaptive control system (MRACS) and have to be avoided in practical applications. This paper discusses the design of an MRACS with no overshoot. In this design a d-step ahead estimator is introduced to evaluate the expected maximum and minimum values of the plant output. According to these estimates, the adaptive control input is adjusted so that the output has no overshoot. For the estimator and the input adjustment an existence region of the unknown plant parameters must be known. It is obvious that the smaller the existence region is, the better is the estimation and adjustment, and, consequently, the MRACS performance. First, an algorithm which successively reduces the region is presented. An initial polyhedron region V(0), which includes the unknown parameters, assumed to be given. The volume of V(k) containing the unknown parameters is then successively reduced by a projection-type algorithm which uses the input and output of the plant. Next, the design of an MRACS is discussed in which this region V(k) plays an important role. The proposed controller generates an adaptive control input sequence which makes the plant output follow the reference output without any overshoot. The proposed MRACS was applied to the adaptive position control of a D.C. servo motor system with an unknown load. Experimental results demonstrate the usefulness of the proposed design.

Design of a Disturbance Accommodating Adaptive Control System and Its Application to a DC-Servo Motor System With Coulomb Friction

1988 ◽  
Vol 110 (4) ◽  
pp. 343-349 ◽  
Author(s):  
P. N. Nikiforuk ◽  
K. Tamura
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Coulomb Friction ◽  
Motor System ◽  
Position Control ◽  
Adaptive Controller ◽  
Analog Computer ◽  
Adaptive Control System ◽  
Servo Motor ◽  
Analytical Functions

This paper discusses the design of a model reference type of adaptive control system for a linear unknown plant with system and observation disturbances. The disturbances are assumed to be approximately expressed by step, sinusoidal, and other analytical functions. The design of a controller, called a disturbance accommodating adaptive controller (DAAC), which eliminates the effect of these disturbances at the plant output, is described. Two types of bias DAAC are given as examples and are applied to the adaptive control of a DC-servo motor system. The plant (the DC-servo system) consists of two unknown loads connected through an electrical clutch and Coulomb friction. The effect of the friction on the plant is considered as an unknown bias disturbance and the DAAC is implemented on an analog computer. Experimental results for the position control of the DAAC system are given.

scholarly journals Design of L1 Adaptive Controller for Position Control of Permanent Magnet Linear Synchronous Motor (PMLSM)

2018 ◽  
pp. 39-52
Keyword(s):  
Adaptive Control ◽  
Permanent Magnet ◽  
Position Control ◽  
Adaptive Controller ◽  
Servo Motor ◽  
Model Reference ◽  
L1 Adaptive Control ◽  
Asymptotic Tracking ◽  
L1 Adaptive Controller ◽  
Model Reference Adaptive

In the present work, the design of an L1 adaptive controller for position control of a linear servo motor for X-Y table application has been developed. The AC Permanent Magnet Linear Synchronous Servo Motor (PMLSM) is considered. A comparative study between L1 adaptive control and Model Reference Adaptive Control (MRAC) has been made. The effectiveness of the L1 adaptive controller against uncertain parameters is analyzed based on simulated results. Robustness characteristics of both L1 adaptive controller and model reference adaptive controller to different input reference signals and different structures of uncertainty have been evaluated. The L1-adaptive controller could ensure uniformly bounded transient and asymptotic tracking for input and output signals. Simulations based on MATLAB of an x-y table based on PMLSM with time-varying friction and disturbance are presented to verify the theoretical findings. The simulation results within the environment of MATLAB/SIMULINK showed that L1-adaptive controller could give better tracking performance, dynamic and steady-state characteristics, than that obtained from MRAC for considered types of input and for various structures of uncertainties.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

Vehicle yaw-inertia- and mass-independent adaptive steering control

2009 ◽  
Vol 223 (9) ◽  
pp. 1101-1108 ◽  
Author(s):  
J Wang ◽  
M F Hsieh
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Stability Control ◽  
Driving Safety ◽  
Control Law ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Unknown Parameters ◽  
Practical Applications ◽  
Adaptive Control Law

This paper describes a vehicle stability control (VSC) system using a vehicle yaw-inertia- and mass-independent adaptive control law. As a primary vehicle active control system, VSC can significantly improve vehicle driving safety for passenger cars and enhance trajectory tracking accuracy for other applications such as autonomous, surveillance, and mobile robot vehicles. For the designs of vehicle dynamic control systems, vehicle yaw inertia and mass are two of the most important parameters. However, in practical applications, vehicle yaw inertia and mass often change with vehicle payload and load distribution. In this paper, an adaptive control law is proposed to treat the vehicle yaw inertia and mass as unknown parameters and automatically address their variations. For the proposed adaptive control law, asymptotic stability of the yaw rate tracking error was proved by a Lyapunov-like analysis for certain vehicle architectures under some reasonable assumptions. The performance of the yaw-inertia- and mass-independent adaptive VSC system was evaluated under several driving conditions (i.e. double lane changing on a slippery surface and braking on a split- μ surface tests) through simulation studies using a high-fidelity full-vehicle model provided by CarSim®.

Model Reference Adaptive Control of Feed Force in Turning

1986 ◽  
Vol 108 (3) ◽  
pp. 215-222 ◽  
Author(s):  
L. K. Daneshmend ◽  
H. A. Pak
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Numerical Control ◽  
Control Input ◽  
Design Technique ◽  
Model Reference ◽  
Single Input Single Output ◽  
Single Output ◽  
Feed Force ◽  
Model Reference Adaptive

This paper applies the discrete-time single-input/single-output Model Reference Adaptive Control (MRAC) design technique of Landau and Lozano to the problem of regulating feed force on a lathe under varying cutting conditions. A first-order model is used to represent the relationship between feed force and the control input (feedrate). The MRAC scheme is implemented on a multi-microprocessor based computer-numerical-control system. Results of applying various algorithms derived from the MRAC design technique are presented.

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.

Multiple model adaptive control using second level adaptation for a delta-wing aircraft

2015 ◽  
Vol 3 (1) ◽  
pp. 2-17 ◽  
Author(s):  
Narjes Ahmadian ◽  
Alireza Khosravi ◽  
Pouria Sarhadi
Keyword(s):  
Adaptive Control ◽  
Delta Wing ◽  
Block Diagram ◽  
Tracking Error ◽  
Control Input ◽  
Multiple Model ◽  
Content Type ◽  
Multiple Model Adaptive Control ◽  
And Control ◽  
Model Reference Adaptive

Purpose – The purpose of this paper is to design a stable controller such that the control input is applied to the delta-wing aircraft in order to adjust the roll dynamics. The controller must provide a desired tracking performance with minimum tracking error. Design/methodology/approach – In this paper, the second level adaptation (SLA) strategy is applied to control a delta-wing aircraft using multiple models. The implemented control structure is compared with the first level adaptation (FLA) and model reference adaptive control (MRAC) techniques. Findings – SLA architecture not only copes with a wide uncertainty domain caused by aerodynamic effects, but also its rapid and accurate convergence is one of its most important features. Furthermore, this strategy makes a smoother control signal with respect to FLA and MRAC even at the same initial times. It should be also noted that SLA using three models, copes with uncertainty that may occur to the aircraft at high Angle Of Attacks (AOAs) at the entire flight envelope. Originality/value – In this paper for the first time the application of this strategy is used to identify and control a delta-wing aircraft. Furthermore a systematic block diagram approach is proposed for the design.

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