Adaptive policies, on the other hand, are specifically suited for online implementation, but may display undesirable transient performance as the model is updated though learning. The platform consists of a bench case which contains a guide rail, a hydraulic positioning system, including a doublerod hydraulic cylinder whose efficient ran area a p 904. All in all an intense but also reasonably balanced work in robust adaptive control theory, combining mathematical rigor with problem solving within the framework of modern control theory. Robust adaptive control in the presence of bounded. However, the adaptive controller is not robust to unmodeled dynamics. The workshop brought together international experts in the field of robust adaptive control to present recent developments in the area.
The cruise control problem of high speed trains in the presence of unknown parameters and external disturbances is considered. An extended direct scheme for robust adaptive nonlinear control. Pdf robust adaptive sliding control of linearizable. Nonlinear adaptive control ac deterministic robust control drc reduceeliminate uncertainties through parameter adaptation to achieve asymptotic tracking. Robust and adaptive model predictive control of nonlinear. Robust adaptive integral backstepping control of a 3dof. Fei p international journal of aerospace and mechanical engineering 2. This article establishes a sound theoretical for the analysis of robust adaptive mpc control system subject to exogenous disturbances for a class of discretetime nonlinear control systems. Most physical systems possess parametric uncertainties or unmeasurable parameters and, since parametric uncertainty may degrade the performance of model predictive control mpc, mechanisms to update the unknown or uncertain parameters are desirable in application. A switching adaptive control algorithm based on a sliding mode method is proposed for a class of siso nonlinear systems with unknown dynamics. The topology transmission line switching to achieve economic and reliability gains in the power grid has been proposed some time ago. This thesis proposes a solution to this long standing open problem for a class of linear timeinvariant plants, whose states are accessible.
Boundary robust adaptive control of a flexible timoshenko. A robust, adaptive control scheme is presented which stabilises a nonlinear model of a. Weight reduction, lower energy consumphow to cite this paper. For example, world war ii with quotes will give more precise results than world war ii without quotes. Robust adaptive geometric tracking controls on so with an. Despite this rich literature, the field of adaptive control.
International journal of adaptive control and signal processing. Robust adaptive precision motion control of hydraulic. Phrase searching you can use double quotes to search for a series of words in a particular order. Robust adaptive control for unmatched systems with guaranteed. Pdf robust adaptive control of a class of nonlinear. Stability margins and frequency domain consideration. Pdf on dec 8, 2010, petros ioannou and others published robust adaptive control find, read and cite all the research you need on. Systematic nonlinear control design methodologies such as the backstepping technique 10 have been proposed as well. Also here we introduce the underlying idea of the proposed method, called the adaptive robust control, and its relationship with the existing ones.
The international journal of robust and nonlinear control supports engineering reports, a new wiley open access journal dedicated to all areas of engineering and computer science. Other robustness studies have considered the adaptive control of robotic manipulators exclusively reed and loannou, 1989. International journal of robust and nonlinear control wiley. In particular a lyapunovbased robust adaptive controller is presented to achieve asymptotic tracking and disturbance rejection. Robust adaptive control in the presence of bounded disturbances abstractthe model reference adaptive control of a linear plant subjected to bounded disturbances is considered. Wildcard searching if you want to search for multiple variations of a word, you can substitute a special symbol called a wildcard for one or more letters. Recently, slidingmode control has been employed to design an observerbased adaptive controller for servo actuators with friction. Rohrs under the supervision of professors valavani, athans, and stein. Section3is dedicated to the adaptive robust control.
Summary in this paper, we proposed a model reference robust adaptive control approach for a class of uncertain switched linear systems, in which subsystems of the switched linear system are in control canonical form. Fast, robust adaptive control by learning only forward models 573 subsequent cycles will make identical mistakes. A robust adaptive nonlinear control design sciencedirect. Lyupunov stability, asymptotic stability, robustness. The few attempts at robust adaptive nonlinear schemes have been directed mainly towards the study of the effects of unmodeled dynamics in a singular perturbation framework taylor et ai, 1989. Model reference robust adaptive control for a class of. Scalable robust adaptive control from the system level perspective. Introduction the area of flexiblearm robots has attracted much attention during the last few decades 1 2. In this paper, an adaptive integral backstepping algorithm is proposed to realize robust control of the 3. These techniques, called robust modification, achieve increased robustness through two general principles. These indicated that the theory of adaptive control is moving closer to applications and is beginning to give realistic guidelines useful in. This book is very rich in both control theory and examples. In this paper, we present an adaptive jacobian controller for trajectory tracking control of robot manipulators. One possibility is to apply adaptive extensions of mpc in which parameter estimation and control.
References april 2015 aer 1503 robust adaptive control 18 1 o. The solution of the adaptive robust problem is discussed in. Power systems, adoptive control, uncertain systems, uncertainty abstract. The research on robot control with uncertain kinematics and dynamics is just at the beginning stage 36. Robust adaptive dynamic programming for optimal nonlinear. This approach did not gain much attention until recently when large penetration of renewable generation created. The text is a threepart treatment, beginning with robust and optimal linear control methods and moving on to a selfcontained. The novel autopilot is capable of handling sudden changes in system dynamics. Driven by aerospace applications the focus of the book is primarily on continuousdynamical systems. A robust selftuned controller based on statespace approach, a. Robust adaptive control of nonlinear systems represented by input. Pdf robust adaptive control of a twinroaor aircraft.
An adaptive robust approach to modeling and control of. Robust adaptive cruise control of high speed trains. This book is downloadable in pdf, epub, kindle and txt format. The plant is assumed to be linearinthe control input but otherwise be completely unknown. The system under consideration is nonlinear, mimo and nonminimum phase. Godhavn, passivity based adaptive attitude, ieee transactions on automatic control, vol. Our research support under this onr contract started shortly following the completion of the ph. Fast, robust adaptive control by learning only forward models.
A book about adaptive control that has grown to be one of the richest in terms of algorithms, design techniques, analytic tools and modifications. To verify the effectiveness of the proposed robust adaptive controller, a hydraulic platform has been set up which is shown in fig. The control design has been theoretically analyzed, and simulations and experiments have been demonstrated to illustrate the control efficiency. Robust and adaptive control is a well written and selfcontained book, driven by aerospace applications. Successful implementation of adaptive control theory as a viable control solution can only be achieved when global robustness properties, especially with respect to unmodeled dynamics, are well understood. Robust adaptive control for fractionalorder systems with. Robust adaptive markov decision processes in multivehicle. Presenting techniques for designing and analyzing adaptive systems in a tutorial manner, this text covers models for dynamic systems, stability, online parameter estimation, parameter identifiers, model reference adaptive control, adaptive pole placement control and robust adaptive laws. Robust and adaptive control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Pdf this research deals with fundamental issues in robust and adaptive control, with emphasis on performance and stability robustness under parametric. Free download of robust adaptive control by petros a. Robust predictive control for antirolling path following of. Isbn 9789533072296, pdf isbn 9789535159971, published 20110411.
This interest is due to the advantages that flexible arms offer compared to their rigid counterparts. Robust adaptive control of an uninhabited surface vehicle. Robust adaptive vibration control with application to a robot beam j. A robust adaptive output feedback controller is proposed for a class of nonlinear systems represented by inputoutput models. By adding a robustifying control component, the results of 1 are extended to the case with. Possible instability in the presence of even small measurement noises and disturbances. In this study, we aim to construct the boundary robust adaptive control for weakening the vibration of the flexible timoshenko manipulator in the presence of unknown disturbances. By analyzing a set of nonlinear differential equations, it is shown that the global behavior of the adaptive system depends upon the persistent excitation of the. No claims are made concerning the computational requirements of the proposed minmax approach to adaptive mpc technique. Robust and adaptive control with aerospace applications. Applied nonlinear control, slotine and li, prenticehall 1991.
Robust policies are typically found offline, but can be extremely conservative when implemented in the real system. Adaptive robust control theory and application to precision. Lecture 20 pdf lecture 21 pdf lecture 22 pdf handouts. Robust control, theory and applications intechopen. Pdf on dec 8, 2010, petros ioannou and others published robust adaptive control find, read and cite all the research you need on researchgate. The control architecture is composed of a switched reference system srs and a switched adaptive controller sac. Syllabus pdf extremum seeking pdf universal approximation pdf adaptive control and neural networks pdf robust adaptive control in the presence of bounded disturbances pdf gaussian networks for direct adaptive control pdf projection operator in adaptive systems pdf.
Presented in a tutorial style, this authoritative text reduces the confusion and difficulty in grasping the design, analysis, and robustness of a wide class of adaptive controls for continuoustime plants. Section3is dedicated to the adaptive robust control methodology. Summary this paper provides a modified model reference adaptive control mrac scheme to achieve better transient control performance for. Contents xi 9 robust adaptive control schemes 635 9. Mechanical engineering the focus of this research is an examination of the interplay between di. Robust adaptive geometric tracking controls on so3 with an application to the attitude dynamics of a quadrotor uav taeyoung lee abstractthis paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. This chapter presents several techniques for improved robustness of modelreference adaptive control. Dof helicopter is a challenging task since the helicopter is an under. A robust adaptive autopilot for uninhabited surface vehicles usv based on a model predictive controller mpc is presented in this paper. Nonlinear adaptive robust control purdue university. The treatment unifies, simplifies, and explains most of the techniques for designing and analyzing adaptive control systems. The text is a threepart treatment, beginning with robust and optimal linear control methods and. Adaptive control, robust control, vibration control 1. Linear quadratic gaussian with looptransfer recovery lqgltr control.
Reliable implementation of robust adaptive topology control. We begin with setting up the model and in section3. Following this work, robust adaptive control schemes with semistrict feedback forms were developed for singleinputsingleoutput 25 systems and multiinputmultioutput systems 26. We leverage a new robustness result for this implementation to propose a general robust adaptive control algorithm. Robust adaptive control for fractionalorder systems, with disturbance and saturation provides the reader with a good understanding on how to achieve tracking control and synchronization control of fractionalorder nonlinear systems with system uncertainties, external disturbance, and input saturation.
Robust adaptive vibration control with application to a. Robust adaptive dynamic programming is both a valuable working resource and an intriguing exploration of contemporary adp theory and applications for practicing engineers and advanced students in systems theory, control engineering, computer science, and applied mathematics. Both of the attitude dynamics and the proposed control. In real life situations, very often a sudden change in dynamics results in missions being aborted and the uninhabited vehicles have to be rescued before they cause damage to.
186 1303 251 344 898 1418 967 794 1694 1318 1250 1326 1223 89 199 473 696 1470 1657 577 974 1222 861 806 618 1425 1604 97 166 1259 1496 481 91 442 1135 783 791 986 876 879 855 38 1040