scholarly journals Designing of Adaptive Model-Free Controller Based on Output Error and Feedback Linearization

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
S. Pezeshki ◽  
M. A. Badamchizadeh ◽  
S. Ghaemi ◽  
M. A. Poor
Keyword(s):  
Feedback Linearization ◽  
Adaptive Controller ◽  
Control Signal ◽  
Adaptive Model ◽  
New Approach ◽  
Output Error ◽  
Model Free ◽  
Signal Changes ◽  
Simulation Results ◽  
Model Free Controller

This paper introduces a new approach to design Model-Free Adaptive Controller (MFAC) using adaptive fuzzy procedure as a feedback linearization based on output error. The basic idea is to transfer the control signal to an appropriate surface and then, depending on the output error of system, the control signal changes around this surface. Some examples are provided as well to illustrate the efficiency of the proposed approach. The obtained simulation results have shown good performances of the proposed controller.

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 391-402 ◽  
Author(s):  
Khoshnam Shojaei ◽  
Alireza Mohammad Shahri ◽  
Ahmadreza Tarakameh ◽  
Behzad Tabibian
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Parametric Uncertainty ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics ◽  
Simulation Results

SUMMARYThis paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

Synchronization of Chaotic Fractional-Order Systems via Fractional-Order Adaptive Controller

2011 ◽  
Vol 109 ◽  
pp. 333-339 ◽  
Author(s):  
Ali Fayazi
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Adaptive Controller ◽  
Control Signal ◽  
Fractional Order Systems ◽  
Sliding Surface ◽  
Adaptation Mechanism ◽  
Simulation Results ◽  
And Performance ◽  
Fractional Order Controller

In this paper, an adaptive fractional-order controller has been designed for synchronization of chaotic fractional-order systems. This controller is a fractional PID controller, which the coefficients will be tuned according to a proper adaptation mechanism. PID coefficients are updated using the gradient method when a proper sliding surface is chosen. To illustrate the effectiveness and performance of the controller, the proposed controller implements on a pair of topologically inequivalent chaotic fractional-order systems. The Genesio-Tessi and Coullet systems. Performance of fractional-order adaptive PID controller (PαIλDμ) on the basis of speed of synchronization, error of synchronization, and level of control signal, is compared with the conventional ones (adaptive PID controller) and sliding mod controller (SMC). The simulation results reducing the level of control signal indicate the significance of the proposed controller.

A Design Method of LS-SVM Based Stable Adaptive Controller for a Class of Nonlinear Systems

2011 ◽  
Vol 48-49 ◽  
pp. 17-20
Author(s):  
Chun Li Xie ◽  
Tao Zhang ◽  
Dan Dan Zhao ◽  
Cheng Shao
Keyword(s):  
Nonlinear Systems ◽  
Design Method ◽  
Nonlinear Function ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Control Law ◽  
Continuous Systems ◽  
Control Schemes ◽  
Closed Systems ◽  
Simulation Results

A design method of LS-SVM based stable adaptive controller is proposed for a class of nonlinear continuous systems with unknown nonlinear function in this paper. Due to the fact that the control law is derived based on the Lyapunov stability theory, the scheme can not only solve the tracking problem of this class of nonlinear systems, but also it can guarantee the asymptotic stability of the closed systems, which is superior to many LS-SVM based control schemes. The effectiveness of the proposed scheme is demonstrated by simulation results.

Utilizing an Adaptive Controller (Azadi Controller) for Trajectory Planning of PUMA 560 Robot

2011 ◽  
Vol 403-408 ◽  
pp. 4880-4887
Author(s):  
Sassan Azadi
Keyword(s):  
Steady State ◽  
Trajectory Planning ◽  
Positive Feedback ◽  
Fuzzy Controller ◽  
Research Work ◽  
Adaptive Controller ◽  
The Novel ◽  
Transient Responses ◽  
Simulation Results ◽  
Good Substitute

This research work was devoted to present a novel adaptive controller which uses two negative stable feedbacks with a positive unstable positive feedback. The positive feedback causes the plant to do the break, therefore reaching the desired trajectory with tiny overshoots. However, the two other negative feedback gains controls the plant in two other sides of positive feedback, making the system to be stable, and controlling the steady-state, and transient responses. This controller was performed for PUMA-560 trajectory planning, and a comparison was made with a fuzzy controller. The fuzzy controller parameters were obtained according to the PSO technique. The simulation results shows that the novel adaptive controller, having just three parameters, can perform well, and can be a good substitute for many other controllers for complex systems such as robotic path planning.

H∞Control for PMLSM Suspension Platform Based on PDFF

2011 ◽  
Vol 383-390 ◽  
pp. 6886-6892
Author(s):  
Jia Kuan Xia ◽  
Yi Na Wang ◽  
Yi Biao Sun
Keyword(s):  
Feedback Linearization ◽  
High Speed ◽  
Normal Force ◽  
Dynamic Stiffness ◽  
Linearization Method ◽  
Dynamic Decoupling ◽  
Fast Tracking ◽  
Speed Controller ◽  
Simulation Results ◽  
Proportional Controller

Permanent magnet linear synchronous motor (PMLSM) suspension system has the merits of no friction, high-speed, high response and so on, using the normal force achieve the mover suspension. The servo performance is affected by the nonlinear coupling between the horizontal trust and vertical normal force, parameters uncertainties and load disturbances. The feedback linearization method is used to achieve the dynamic decoupling of the PMLSM suspicion system and decoupling it Into two linear subsystems; to solve the conflict between disturbance restraint and fast tracking performance, increase the robustness and dynamic stiffness for system, H∞ speed controller based on PDFF and position proportional controller are designed. Simulation results show that the proposed control strategy guarantees the high speed and high precision positioning performance for horizontal axis; the good rigidity and stability for normal suspension length and the strong robustness against load disturbances and parameters variations for the two axes.

Decoding Digital Information from the Cascaded Heterogeneous Chaotic Systems

2003 ◽  
Vol 13 (06) ◽  
pp. 1599-1608 ◽  
Author(s):  
Chao Tao ◽  
Gonghuan Du ◽  
Yu Zhang
Keyword(s):  
Communication System ◽  
Communication Systems ◽  
Chaotic Systems ◽  
Digital Information ◽  
Chaotic Communication ◽  
New Approach ◽  
Communication Scheme ◽  
Simulation Results

In this paper, we propose a new approach to breaking down chaotic communication scheme by attacking its encryption keys. A remarkable advancement is that it can decode the hidden message exactly. This makes it become possible to break down some cascaded chaotic communication systems. We also decode digital information from the cascaded heterogeneous chaotic communication system and give the simulation results.

Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization

2021 ◽  
pp. 095440622110279
Author(s):  
Vahid Bahrami ◽  
Ahmad Kalhor ◽  
Mehdi Tale Masouleh
Keyword(s):  
Dynamic Modeling ◽  
Pid Controller ◽  
Feedback Linearization ◽  
Tracking Error ◽  
Pid Controllers ◽  
Serial Chain ◽  
Simulation Results ◽  
The Stability ◽  
Feedback Linearization Approach ◽  
Bounded Disturbance

This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

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