scholarly journals Output Feedback Adaptive Controller Model for Perceptual Motor Control Dynamics of Human

10.5772/7790 ◽  
2009 ◽  
Author(s):  
Hirofumi Ohtsuka ◽  
Koki Shibasato ◽  
Shigeyasu Kawaji
Keyword(s):  
Motor Control ◽  
Output Feedback ◽  
Adaptive Controller

Output regulation of output feedback systems with unknown exosystem and unknown high-frequency gain sign

2016 ◽  
Vol 40 (1) ◽  
pp. 171-178 ◽  
Author(s):  
Meichen Guo ◽  
Lu Liu
Keyword(s):  
Output Feedback ◽  
High Frequency ◽  
Adaptive Controller ◽  
Output Regulation ◽  
Design Approach ◽  
Feedback Systems ◽  
Unknown Parameters ◽  
Robust Output Regulation ◽  
Matching Design ◽  
Output Regulation Problem

This paper discusses the global robust output regulation problem for a class of nonlinear output feedback systems. It is assumed that the exosystem and the high-frequency gain sign are unknown and that the unknown parameters can be arbitrarily large. To solve this problem, two major challenges are to be overcome. First, the concurrence of the unknown exosystem and the unknown high-frequency gain sign cannot be handled merely by designing estimators for the two unknown parameters respectively. Second, the conventional extended matching design approach cannot be directly implemented, owing to the arbitrarily large unknown parameters. To cope with these difficulties, a new estimator is developed, and the extended matching design approach is modified to obtain a suitable update law for the estimator. The effectiveness of the proposed adaptive controller is illustrated by an example.

Constrained global adaptive controller for a plug-flow tubular reactor with partial temperature measurements

2018 ◽  
Vol 36 (4) ◽  
pp. 1089-1104
Author(s):  
N Beniich ◽  
A El Bouhtouri ◽  
D Dochain
Keyword(s):  
Partial Differential Equations ◽  
Temperature Profile ◽  
Output Feedback ◽  
Plug Flow ◽  
Tubular Reactor ◽  
Adaptive Controller ◽  
Measured Temperature ◽  
Fixed Temperature ◽  
Linear Partial Differential Equations ◽  
Tubular Reactors

Abstract In this work, a global constrained adaptive output feedback is presented for a class of plug-flow tubular reactors models described by non-linear partial differential equations. The output of the system is the measured temperature in a fixed zone of the reactor. It is then used to regulate the temperature throughout the reactor to a ball with radius $\lambda $ (arbitrarily small) centred at the fixed temperature profile.

scholarly journals A model independent observer based output feedback tracking controller for robotic manipulators with dynamical uncertainties

Robotica ◽  
2015 ◽  
Vol 35 (4) ◽  
pp. 729-743 ◽  
Author(s):  
Erkan Zergeroglu ◽  
Enver Tatlicioglu ◽  
Egemen Kaleli
Keyword(s):  
Output Feedback ◽  
Experimental Studies ◽  
Variable Structure ◽  
Adaptive Controller ◽  
Independent Observer ◽  
Tracking Controller ◽  
Compensation Technique ◽  
Independent Variable ◽  
Model Independent ◽  
Feedback Tracking

SUMMARYIn this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer--controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.

ADAPTIVE OUTPUT FEEDBACK CONTROL FOR TRAJECTORY TRACKING OF AUV IN WAVE DISTURBANCE CONDITION

2013 ◽  
Vol 11 (03) ◽  
pp. 1350027 ◽  
Author(s):  
LIJUN ZHANG ◽  
XUE QI ◽  
YONGJIE PANG ◽  
DAPENG JIANG
Keyword(s):  
Output Feedback ◽  
Autonomous Underwater Vehicle ◽  
Direct Method ◽  
Output Feedback Control ◽  
Adaptive Controller ◽  
Feedback Controller ◽  
Wave Disturbance ◽  
Output Feedback Controller ◽  
Wave Disturbances ◽  
Control Scheme

This paper develops an adaptive output feedback controller that forces an autonomous underwater vehicle (AUV), named Omni-Directional Intelligent Navigator (ODIN), to track a desired trajectory with bounded errors in wave disturbance condition. An adaptive controller is introduced based on a nonlinear model whose measurable output is corrupted by wave disturbances. Thus an observer is built to reconstruct the full states including wave velocity, wave motion displacement, vehicles velocity, position and rotation angle information which are used in the output feedback controller. Ultimate boundedness of the error signals is shown through Lyapunovs direct method. Finally, simulation studies for ODIN illustrate the effectiveness of the proposed control scheme.

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