scholarly journals Comparative study of Robust Control for a Water Hydraulic Servo Motor System (3rd report: Adaptive Control Design Approach and Summarize Results)

2007 ◽  
Vol 38 (3) ◽  
pp. 35-40
Author(s):  
Kazuhisa ITO ◽  
Hidekazu TAKAHASHI ◽  
Shigeru IKEO
Keyword(s):  
Adaptive Control ◽  
Robust Control ◽  
Comparative Study ◽  
Motor System ◽  
Control Design ◽  
Design Approach ◽  
Servo Motor ◽  
Hydraulic Servo ◽  
Water Hydraulic

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.

Optimally Allocated Nonlinear Robust Control of a Reusable Launch Vehicle During Re-entry

2020 ◽  
Vol 08 (01) ◽  
pp. 33-48
Author(s):  
S. Mathavaraj ◽  
Radhakant Padhi
Keyword(s):  
Robust Control ◽  
Control Design ◽  
Launch Vehicle ◽  
The Body ◽  
Design Approach ◽  
Dynamic Inversion ◽  
Nonlinear Robust Control ◽  
Reusable Launch Vehicle ◽  
Aerodynamic Control ◽  
Nonlinear Robust

A nonlinear robust control design approach is presented in this paper for a prototype reusable launch vehicle (RLV) during the critical re-entry phase where the margin for error is small. A nominal control is designed following the dynamic inversion philosophy for the reaction control system (RCS) and optimal dynamic inversion philosophy for the aerodynamic control actuation. This nominal controller is augmented next with a barrier Lyapunov function based neuro-adaptive control in the inner loop, which enforces the body rates of the actual system i.e. in presence of uncertainties to track the closed-loop body rates of the nominal plant. A fusion logic is also presented for fusing the RCS and aerodynamic control. The control design approach presented here assures robust tracking of the guidance commands despite the presence of uncertainties in the plant model. Extensive nonlinear six degree-of-freedom (DoF) simulation study, which embeds additional practical constraints such as actuator delay in the aerodynamic control actuation and constraints related to the RCS, shows that the proposed design approach has both good command following as well as robustness characteristics.

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.

1202 Application of Simple Adaptive Control to a Water Hydraulic Servo Cylinder System

2011 ◽  
Vol 2011.49 (0) ◽  
pp. 355-356
Author(s):  
Tsuyoshi YAMADA ◽  
Kazuhisa ITO ◽  
Shigeru IKEO ◽  
Masaharu NISHIMURA ◽  
Nobutaka WADA
Keyword(s):  
Adaptive Control ◽  
Hydraulic Servo ◽  
Water Hydraulic
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