Search results for "Adaptive Control"
showing 10 items of 80 documents
Robust adaptive backstepping control design for a Nonlinear Hydraulic-Mechanical System
2009
The complex dynamics that characterize hydraulic systems make it difficult for the control design to achieve prescribed goals in an efficient manner. In this paper, we present the design and analysis of a robust nonlinear controller for a Nonlinear Hydraulic-Mechanical (NHM) System. The system consists of an electrohydraulic servo valve and two hydraulic cylinders. Specifically, by considering a part of the dynamics of the NHM system as a norm-bounded uncertainty, two adaptive controllers are developed based on the backstepping technique that ensure the tracking error signals asymptotically converge to zero despite the uncertainties in the system according to the Barbalat lemma. The resulti…
Fuzzy Adaptive EKF Motion Control for Nonholonomic and Underactuated Cars with Parametric and non Parametric Uncertainties
2007
A new fuzzy adaptive motion control system including on-line extended Kalman''s filter (EKF) for wheeled underactuated cars with non-holonomic constraints on the motion is presented. The presence of parametric uncertainties in the kinematics and in the dynamics is treated using suitable differential adaptation laws. We merge adaptive control with fuzzy inference system. By using fuzzy system, the parameters of the kinematical controller are functions of the lateral, longitudinal and orientation errors of the motion. In this way we have a robust control system where the dynamics of the motion errors is with lower time response than the adaptive control without fuzzy. Also Lyapunov''s stabili…
Adaptive interaction robot control with estimation of contact force
2008
Abstract This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.
Analysis and control of a seven mode truncation of the Kolmogorov flow with drag.
2008
The transition from laminar to chaotic motion in a viscous fluid flow is investigated by analyzing a seven dimensional dynamical system obtained by a truncation of the Fourier modes for the Kolmogorov flow with drag friction. Analytical expressions of the bifurcation curves are obtained and a sequence of period doubling bifurcations are numerically observed as the Reynoplds number is increased for fixed values of the drag parameter. An adaptive stabilization of the system trajectories to an equilibrium point or to a periodic orbit is obtained through a model reference approach which makes the control global.
An EKF Based Method for Path Following in Turbulent Air
2017
An innovative use of the Extended Kalman Filter (EKF) is proposed to perform both accurate path following and adequate disturbance rejection in turbulent air. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one estimates modified aircraft parameters. The first filter, by using measurements gathered in turbulent air, estimates both aircraft states and wind components. The second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The predictor of the second EKF uses the estimated wind components to solve motion equations in turbulent air. Besides a set of unknown stability …
Automatic EKF tuning for UAS path following in turbulent air
2018
By using two simultaneously working Extended Kalman Filters, a procedure is implemented in order to perform in a fully autonomous way the path following in turbulent air. To guarantee the robustness of the proposed algorithm, an automatic tuning procedure is proposed to determine optimal values of Process and Measurement Noise statistics. Such a procedure is based on both the characteristics of the disturbances and the desired flight path; in particular, a specific performance index is applied to tune filters. In this way control laws are adapted to the flight condition and these lead to an optimal path-following. This research represents an upload of previous papers. It allows eliminating …
Adaptive Control of a Gas Turbine Engine for Axial Compressor Faults
1996
An adaptive control system for a gas turbine engine which diagnoses conditions of axial compressor faults is proposed and analyzed. Nonlinear models of the gas turbine, neural networks and genetic algorithms are used in this research. The adaptive control system minimizes the reduction in gas turbine performance deriving from non-destructive faults. In the absence of faults, the system automatically performs the optimization of the engine between overhauls. Improvements concern the definition of adaptive control with faults in progress, and the real-time optimization of the engine during its operative life between overhauls. Simulation results of the suggested control system are also discus…
Post-Double Hopf Bifurcation Dynamics and Adaptive Synchronization of a Hyperchaotic System
2012
In this paper a four-dimensional hyperchaotic system with only one equilibrium is considered and its double Hopf bifurcations are investigated. The general post-bifurcation and stability analysis are carried out using the normal form of the system obtained via the method of multiple scales. The dynamics of the orbits predicted through the normal form comprises possible regimes of periodic solutions, two-period tori, and three-period tori in parameter space. Moreover, we show how the hyperchaotic synchronization of this system can be realized via an adaptive control scheme. Numerical simulations are included to show the effectiveness of the designed control.
Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots
2022
The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their in- trinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input- state observer based on a nominal robot model that reconstructs the total torque disturbance vector, resulting from the imperfect knowledge of the elastic torque characteristic, external torques, and other model uncertainties. Then, it introduces a robust controller, that actively compensates for the estimated uncertainty and allows bounded stability for the tracking of independent link position and joint stiffness reference signals.…
A New Dynamic Model for Anticipatory Adaptive Control of Airline Seat Reservation via Order Statistics of Cumulative Customer Demand
2017
This paper deals with dynamic anticipatory adaptive control of airline seat reservation for the stochastic customer demand that occurs over time T before the flight is scheduled to depart. It is assumed that time T is divided into m periods, namely a full fare period and m−1 discounted fare periods. The fare structure is given. An airplane has a seat capacity of U. For the sake of simplicity, but without loss of generality, we consider (for illustration) the case of nonstop flight with two fare classes (business and economy). The proposed policies of the airline seat inventory control are based on the use of order statistics of cumulative customer demand, which have such properties as bivar…