Adaptive Control Scheme for Coupled Tank Process

2018 ◽  
pp. 89-95
Author(s):  
Vinodhini M.
Keyword(s):  
Adaptive Control ◽  
Nonlinear Behaviour ◽  
Simulation Studies ◽  
Input Output ◽  
Control Scheme ◽  
Direct Model ◽  
Multivariable Process ◽  
Model Reference Adaptive ◽  
Siso System ◽  
Adaptive Control Scheme

The objective of this paper is to develop a Direct Model Reference Adaptive Control (DMRAC) algorithm for a MIMO process by extending the MIT rule adopted for a SISO system. The controller thus developed is implemented on Laboratory interacting coupled tank process through simulation. This can be regarded as the relevant process control in petrol and chemical industries. These industries involve controlling the liquid level and the flow rate in the presence of nonlinearity and disturbance which justifies the use of adaptive techniques such as DMRAC control scheme. For this purpose, mathematical models are obtained for each of the input-output combinations using white box approach and the respective controllers are developed. A detailed analysis on the performance of the chosen process with these controllers is carried out. Simulation studies reveal the effectiveness of proposed controller for multivariable process that exhibits nonlinear behaviour.

Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 2: Experiment

1995 ◽  
Vol 209 (3) ◽  
pp. 197-205 ◽  
Author(s):  
F Gomes de Almeida ◽  
K A Edge
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Model Following ◽  
Control Scheme ◽  
Series Of Experiments ◽  
Hydraulic Manipulator ◽  
Model Reference Adaptive ◽  
Decentralized Model ◽  
Adaptive Control Scheme

The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.

Modelling and Adaptive Control of Tendon-Driven Micromanipulators in the Presence of Van-der-Waals Forces

2004 ◽  
Author(s):  
Athanasios Tsoukalas ◽  
Anthony Tzes
Keyword(s):  
Adaptive Control ◽  
Design Problem ◽  
Van Der Waals ◽  
Adaptive Controller ◽  
Simulation Studies ◽  
Unknown Parameters ◽  
Actuation Mechanism ◽  
Control Scheme ◽  
Driven System ◽  
Adaptive Control Scheme

In this article, the design problem of an adaptive controller for a robotic micromanipulator, including the effects of the applied Van der Waals (VdW) forces is considered. The micro-manipulator’s dynamic model is appropriately modified in order to include the interaction of the attractive VdW-forces. Inhere, every link is decomposed into a series of elementary particles (e.g. spheres), each one interacting with the robot’s neighboring objects during its motion. This interaction induces nonlinear additive terms in the model, attributed to the overall effect of the VdW-forces. The actuation is achieved by a tendon-driven system. At each joint, a pair of tendons is attached and act in an almost passive antagonistic manner. The kinematic and dynamic analysis of the tendon-driven actuation mechanism is offered. Consequently, the microrobot’s model is shown to be linearly parameterizable. Subject to this observation, a globally stabilizable adaptive control scheme is derived, estimating the unknown parameters (masses, generalized VdW-forces) and compensating any variations of those. Simulation studies on a 2-DOF micro-manipulator are offered to highlight the effectiveness of the proposed scheme.

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