model reference adaptive control simulink

... robust mode reference adaptive (RMRA) control is put forward to control the 2D-PDMDSP, and the stability and robustness of the RMRA control is theoretically proved; in SectionVI, the rapid control ... the 2D-PDMDSP; lastly, the robust model reference adap-tive (RMRA) control for the 2D-PDMDSP is proposed and explored The rapid control prototype of the RMRA controller combining the proposed ... precision positioning control, and reduce the real-time of the systems the piezo-driven positioning systems.18,19 Therefore, in this paper, the robust model reference adaptive (RMRA) control including

Ngày tải lên: 04/12/2022, 16:10

... Abstract: This paper proposes an adaptive control method of partially known system and shows its application result to control of a two-wheeled welding mobile robot The controlled system is designed ... Unicycle-Modeled Mobile Robots Using a Saturation Feedback Controller”, IEEE Trans on Control Systems Technology, Vol 9, No 2, pp 305-318, March 2001 [10]T Fukao, H Nakagawa and N Adachi, “Adaptive ... Control of Two-Wheeled Welding Mobile Robot”, Korean Transaction on Control, Automation and Systems Engineering, (code: 02-02-E04, accepted to publish) [4] Y.B Jeon, S.S Park and S.B Kim, “Modeling

Ngày tải lên: 10/12/2013, 13:16

... Contents Commercial adaptive controllers Problems with PID Advantages of adaptive control Disadvantages of adaptive control The ideal adaptive controller Basic concepts Model-based techniques ... Conclusion 1 References 1 Suggested reading 1 2 The exploitation of adaptive modeling in the model predictive control of Connoisseur Model structures Issues for identification Adaptive modeling ... MFA control MFA control methodology and applications MFA control methodology The inside of MFA Case studies 4 References 4 Trang 95 Expert-based adaptive control:Controlsoft’s Intune adaptive

Ngày tải lên: 12/12/2013, 22:42

... controller is generally nonlinear and time- varying The added complexity of adaptive control is made worthwhile when the performance achieved by non-adaptive control is inadequate The plant model ... the reference model and the controller are shown in Figure 5.6 3 Ym it) s+3 a(t} | + yp(U ult} 2 229 -ø~ Si ` s/raogr226[ 7 O cá ~ Figure 5.6: Rohrs Example—Plant, Reference Model, and Controller ... For non-adaptive control, the nominal plant is chosen to be 1 /s-—- 1, so In the preceding chapters, we only considered the adaptive control of plants with parameterized uncertainty, i.e., control

Ngày tải lên: 19/04/2014, 10:13

... this paper, the adaptive regulation problem for unknown controlled systems with unknown exosystems was considered An adaptive output feedback controller with an adaptive internal model was proposed ... proposed controller Fig 5 Tracking error with the proposed controller Trang 16Fig 6 Adaptively adjusted parameters Trang 17A very good control result was obtained and we can see that a good control ... on Automatic Control, Vol.46, No.8, pp 1178—1194, 0018-9286 G, Feg & M, Palaniswami (1991) Unified treatment of internal model principle based adaptive control algorithms Int J Control, Vol.54,

Ngày tải lên: 21/06/2014, 19:20

... Trang 13 Control Design The control objective in the case of known plant parameters is that the discretized plant model matches a stable discrete-time reference model = m m m B (z) ... establishes the main stability result of the adaptive control system Theorem 1 Main stability result. (i) The adaptive control law stabilizes the discrete-time plant model (6) in the sense that {u(k) and ... the adaptive controller parameters Note that the multirate gains and the adaptive control parameters are time-varying until they converge to constant values Fig 3 Plant and reference model output

Ngày tải lên: 21/06/2014, 19:20

... by (67) and a reference model characterized by transfer function ( ) ( ) Trang 7where imdq s (imd s and imq s ) are the outputs of the reference model The tracking of the model control signal ... the reference model 5.1.1 Design of the Controller To design the proposed VS-MRAC controller, initially is necessary to choose a suitable 550 s isdq s = + , (80) From this reference model, ... (b) Trang 177 References Hsu, L & Costa, R R (1989) Variable structure model reference adaptive control using only input and output measurement: part I International Journal of Control, Vol.49,

Ngày tải lên: 21/06/2014, 19:20

... optimal control scheme is employed for backlash compensation Then, the nonlinear feedback control law is used for the control of nonlinear dynamics Zhao & Tan (2006) proposed a neural adaptive control ... proposed control structure is effective for damping the torsional oscillation of two-mass drive system, also in Trang 7Adaptive control 224 the case of wide range changes of load side inertia 7 References ... Section 5 will present an adaptive control strategy based on pseudo inverse control technique for the obtained Hammerstein system with hysteresis One of advantages of the controller is that it does

Ngày tải lên: 21/06/2014, 19:20

... monitoring Feedback control (search control algorithm ) Fig 1 Adaptive CD compensation in the receiver Trang 3In this chapter, we report the adaptive CD compensation employing adaptive control technique ... signal in adaptive CD compensation We adopt the eye-opening value obtained from the eye-diagram as the feedback signal in the adaptive control method to be proposed 3 High-Speed Adaptive Control ... we propose a method of high-speed adaptive control of tunable CD compensator for adaptive CD compensation We apply the steepest descent method to the adaptive control algorithm in order to reduce

Ngày tải lên: 21/06/2014, 19:20

... (2005) Adaptive Identification and Control of Hysteresis in Smart Materials, IEEE Transactions on Automatic Control,Vol.50, No.(6), pp 827-839 Ge, S S & Wang, C (2002) Direct adaptive NN control ... while the poles can be arbitrarily placed (if completely controllable) In most standard adaptive control as well as in nonlinear adaptive control, all algorithms require that the plant to be minimum ... Fig 5 Adaptive Hysteresis Pre-inversion Compensator v (t) Trang 8Adaptive Control of Piezoelectric Actuators with Unknown Hysteresis 275 5 Conclusion In this paper, an observer-based controller

Ngày tải lên: 21/06/2014, 19:20

... ^ Adaptive Control 322 confirmed the effectiveness of the proposed adaptive inverse optimal controller by the experiment. As a result, we achieved offset-free control performance. 9. References ... separate control signals from controlled plant functions, and apply neural networks to approximate the control signal, therefore, obtain an adaptive control scheme Furthermore, when controlling ... Theorem 4 We consider system (42), controller (43) and adaptive law (49). Then, the controller has a gain margin ),2/1( ∞ . 6.2 Adaptive inverse optimal controller We calculate θ &

Ngày tải lên: 21/06/2014, 19:20

... comparisons, the PD controller and the adaptive controller based on NN proposed, of tracking errors, output tracking and control input, respectively. These results indicate that the adaptive controller ... of the proposed method, two controllers are studied for comparison. A fixed-gain PD control law is first used as Polycarpou, (Polycarpou 1996). Then, the adaptive controller based on NN proposed ... . 4. ˆ M ( dash ) , ˆ N ( dot ) , out p ut of NN ( solid ) Adaptive Control 348 4. Decentralized Adaptive Neural Network Control of a Class of Large-Scale Nonlinear Systems with linear

Ngày tải lên: 21/06/2014, 19:20

... a stable adaptive controller Fig 4 shows the control diagram for the proposed adaptive control 10 Frontiers in Adaptive Control Figure 4 Control diagram for an adaptive. .. ... 8. Model Reference Adaptive Control for Robotic Manipulation with Kalman Active Observers 145 Rui Cortesão 9. Triggering Adaptive Automation in Naval Command and Control ... achieve model-reference adaptive control through extra states and stochastic design in the framework of Kalman filters. In Chapter 9, the human-machine en- semble is regarded as an adaptive controller

Ngày tải lên: 21/06/2014, 19:20

... In model-reference techniques two models are considered; one contains the parameters to be determined (adaptive model) and the other is free or independent from those parameters (reference model). ... Rs, Rr, Lm (a) model 1 (b) model 2 Figure 2. Estimated parameters for DFIM Frontiers in Adaptive Control 24 To solve the problem of derivatives ( i p i p drds , ) in model 1, a first ... used in a model are continuous signals, the model is a continuous time model; which is described by differential equations. If the signals used in a model are sampled signals, the model is a

Ngày tải lên: 21/06/2014, 19:20

... and the subsequent controller design (e.g model matching and cancellation controller) We apply to the successive models and controllers given in the example our frequency domain model validation ... the reference model M03 The new identified plant G1 captures the first resonance peak of the plant The reference model is ( 5) G G M s + = =+The model validation result shows that now, the model ... identification and control schemes 4.1 Model Validation on Iterative Identification and Control Schemes The benefits of the frequency dependent model validation for the iterative identification and control

Ngày tải lên: 21/06/2014, 19:20

... words, the FFA-based adaptive controller has better advantages than the SFA-based adaptive controller To demonstrate the high application potential of the FFA-based adaptive control method to complicated ... improving the control of holonomic systems by using the FFA-based control As a result, the proposed adaptive controller is no longer with the disadvantages of the traditional SFA-based adaptive controllers ... traditional adaptive fuzzy control schemes is also performed in numerical simulations Keywords: Adaptive control; Takagi-Sugeno (TS) fuzzy system; holonomic systems; motion/force control 2

Ngày tải lên: 21/06/2014, 19:20

... (1999) A control engineer's guide to sliding mode control IEEE Transactions on Control Systems Technology, Vol 7, No 3, pp 328-342 Zervos, C.C., & Dumont, G A (1988) Deterministic adaptive control ... sliding mode control and the Lyapunov direct method Finally, the proposed control strategy is applied to the stabilizing control simulating experiment on a double inverted pendulum in simulink environment ... multiple models and neural networks Automatica, Vol 43, No 6, pp 1101-1110 Gang, T & Kokotovic, P.V (1994) Adaptive control of plants with unknown dead-zones IEEE Transactions on Automatic Control,

Ngày tải lên: 21/06/2014, 19:20

... models and models of operator cognition. We have based our trigger model on precisely such a combination because we feel our approach to adaptive automation using an object-oriented model (de ... Introduction In most adaptive control algorithms, parameter... North-Holland, 044400 987 6, Amsterdam Rouse, W.B (1 988 ) Adaptive Aiding for Human/Computer Control, Human Factors, 30, ... especially models that consider the effects of (neuro)physiological triggers and critical events. Limited research is dedicated to applying a hybrid model that integrates operator performance models

Ngày tải lên: 21/06/2014, 19:20