• Title/Summary/Keyword: Adaptive design

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Design of a Real Time Adaptive Controller for Industrial Robot Using Digital Signal Processor (디지털 신호처리기를 사용한 산업용 로버트의 실시간 적응제어기 설계)

    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.5 no.4
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    • pp.26-37
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    • 1996
  • This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

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Velocity Controller Design for Fish Sorting Belt Conveyor System using M-MRAC and Projection Operator

  • Nguyen, Huy Hung;Tran, Minh Thien;Kim, Dae Hwan;Kim, Hak Kyeong;Kim, Sang Bong
    • Journal of Power System Engineering
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    • v.21 no.4
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    • pp.42-50
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    • 2017
  • A velocity controller using a modified model reference adaptive controller (M-MRAC) and a projection operator for a fish sorting belt conveyor system with uncertainty parameters, input saturation and bounded disturbances is proposed in this paper. To improve the tracking performance and robustness of the proposed controller in the presence of bounded disturbances, the followings are done. Firstly, the reference model for the conventional model reference adaptive controller (CMRAC) is replaced by a modified reference model for a M-MRAC to reduce unexpected high frequency oscillation in control input signal when the adaptation rate is increased. Secondly, estimated parameters in an adaptive law are varied smoothly under bounded external disturbances and a projection operator is utilized in an adaptive law for the proposed M-MRAC controller to be robust. Thirdly, an auxiliary error vector is introduced for compensating the error dynamics of the system when the saturation input occurs. Finally, the experimental results are shown to verify the better effectiveness and performance of the proposed controller under the bounded disturbance and saturated input than that of a CMRAC.

Robust Adaptive Output Feedback Control Design for a Multi-Input Multi-Output Aeroelastic System

  • Wang, Z.;Behal, A.;Marzocca, P.
    • International Journal of Aeronautical and Space Sciences
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    • v.12 no.2
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    • pp.179-189
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    • 2011
  • In this paper, robust adaptive control design problem is addressed for a class of parametrically uncertain aeroelastic systems. A full-state robust adaptive controller was designed to suppress aeroelastic vibrations of a nonlinear wing section. The design used leading and trailing edge control actuations. The full state feedback (FSFB) control yielded a global uniformly ultimately bounded result for two-axis vibration suppression. The pitching and plunging displacements were measurable; however, the pitching and plunging rates were not measurable. Thus, a high gain observer was used to modify the FSFB control design to become an output feedback (OFB) design while the stability analysis for the OFB control law was presented. Simulation results demonstrate the efficacy of the multi-input multi-output control toward suppressing aeroelastic vibrations and limit cycle oscillations occurring in pre- and post-flutter velocity regimes.

Nonlinear Adaptive Control based on Lyapunov Analysis: Overview and Survey (리아프노브 분석법 기반 비선형 적응제어 개요 및 연구동향 조사)

  • Park, Jin Bae;Lee, Jae Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.261-269
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    • 2014
  • This paper provides an overview of the basics and recent studies of Lyapunov-based nonlinear adaptive control, the aim of which is to improve or maintain the performance and stability of the closed-loop system by cancelling out the presumable uncertainties in the nonlinear system dynamics. The design principles are essentially based on Lyapunov's direct method. In this survey, we provide a comprehensive overview of Lyapunov-based nonlinear adaptive control techniques with simplified effective design examples, which are to be elaborated as related recent results are gradually shown. The scope of the survey contains research on singularity problems in adaptive control, the techniques to deal with linearly and nonlinearly parameterized uncertainties, robust neuro-adaptive control, and adaptive control methodologies combined with various nonlinear control techniques such as sliding-mode control, back-stepping, dynamic surface control, and optimal/$H_{\infty}$ control.

Modified Adaptive Cluster Sampling Designs

  • Park, Jeong-Soo;Kim, Youn-Woo;Son, Chang-Kyoon
    • Communications for Statistical Applications and Methods
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    • v.14 no.1
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    • pp.57-69
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    • 2007
  • Adaptive cluster sampling design is known as a sampling method for rare clustered population. Three modified adaptive cluster sampling designs are proposed. The adjusted Hansen-Hurwitz estimator and the Horvitz-Thompson estimator are considered. Efficiency issue of the proposed sampling designs is discussed in a Monte-Carlo simulation study.

Robust adaptive controller design for robot manipulators (로봇 매니퓰레이터에 대한 강인한 적응 제어기의 설계)

  • Jung, Seok-Woo;Lyou, Joon
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.889-894
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    • 1993
  • This paper presents a robust adaptive control scheme based on the Lyapunov design for robot manipulators subjected to inertial parameter uncertainties and bounded torque disturbances. The scheme is a modified version of the adaptive computed torque method which adopts a dead zone into the adaptation mechanism so as to avoid parameter drifts by disturbances. It is shown via stability analysis and computer simulations that all the signals in the overall adaptive system are bounded and tracking errors lie within a prespecified bound.

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A study on the dencentraliaied adaptive control of interconnected systems (상호 연계된 시스템의 비집중 적응제어에 관한 연구)

  • 이준호;이기서
    • 제어로봇시스템학회:학술대회논문집
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    • 1989.10a
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    • pp.503-507
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    • 1989
  • A new decentralized adaptive controller design is proposed. In large scale interconnected system with unknown parameters, nonlinearities and bounded disturbances, even though the interconnection is weak, the controller parameter drifts due to the interconnection, so the decentralized adaptive controller comes to be unstable. The proposed new decentralized adaptive controller guarantees exponential convergence of tracking and parameter errors to residual sets which depend on the bound for the local disturbances and interconnections as well as on some arbitrary design parameters.

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Deterministic Disturbance Rejection for Model Reference Adaptive Control (결정론적 외란에 대한 적응제어 알고리즘의 연구)

  • Kim, Yong-Sei;Feng, G.;Lee, Kwon-S.
    • Proceedings of the KIEE Conference
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    • 1993.07a
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    • pp.341-344
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    • 1993
  • This paper presents the general MRAC algorithm design, it's real time implementation and investigates the effect of purely deterministic disturbances to adaptive control algorithm. The design of adaptive control algorithm to reject the disturbances properly is also presented. In real time application, adaptive control algorithm is considered to investigate its performance by using DC motor. Disturbance rejection algorithm is investigated in simulation.

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Gain Design of an Adaptive Full-order Observer Using a Pole Placement Technique for Speed Sensorless Induction Motor Drives

  • Yoo, Anno;Han, Sang-Heon;Son, Young Ik;Yoon, Young-Doo;Hong, Chanook
    • Journal of Power Electronics
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    • v.16 no.4
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    • pp.1346-1354
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    • 2016
  • This paper proposes a design guideline for the feedback gain of the adaptive full-order observer in the speed sensorless control of induction machines. The performance of the adaptive full-order observer is dependent on its feedback gain. This paper presents a pole placement method for the observer feedback gain design to improve the estimation performance of the speed adaptive observer. In the proposed method, the observer poles can be chosen independently of the induction motor poles. Instead, they can be positioned according to the operating speed. An analysis and experimental results obtained with the proposed method reveals better performances under general operating conditions.