Search results for "Adaptive Control"
showing 10 items of 80 documents
Adaptive Type-2 Fuzzy Logic Control of Non-Linear Processes
2011
The main objective of this study is to provide a valid and effective approach for the design and development of an adaptive type-2 fuzzy controller (AT2FLC), based on the analysis of the nonlinear process dynamics and the use of an ANFIS technique for the optimization of the controller. The performance of the obtained AT2FLC, characterized by a few number of rules, is higher than the performance of a traditional type-2 fuzzy controller with a larger rule base. The proposed controller is particurarly suitable for the control of processes characterized by uncertainty and time varying parameters.
A New Model for Sigma-Delta Modulator Oriented to Digitally Controlled DC/DC Converter
2007
Recent research activities have shown the feasibility and advantages of using digital controller ICs specifically developed for high-frequency switching converters, highlighting a challenging future trend in Switched-mode power supplies (SMPS) applications. Up to a few years ago, the application of digital control for SMPS was impractical due to the high cost and low performance of DSP and microcontroller systems, even if the advantages that digital controllers offer were well known, such as immunity to analog component variations and ability to implement sophisticated control schemes and system diagnostics. Digital controller ICs potentially offer other advantages from the integrated desig…
Optimal Adaptive Inspection Planning Process in Service of Fatigued Aircraft Structures
2009
In this paper, a control theory is used for planning inspections in service of fatigue-sensitive aircraft structure components under crack propagation. One of the most important features of control theory is its great generality, enabling one to analyze diverse systems within one unified framework. A key idea, which has emerged from this study, is the necessity of viewing the process of planning in-service inspections as an adaptive control process. Adaptation means the ability of self-modification and self-adjustment in accordance with varying conditions of environment. The adaptive control of inspection planning process in service of fatigued aircraft structures differs from ordinary stoc…
Application of Wavelet Networks to Adaptive Control of Robotic Manipulators
2011
Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39 In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in th…
Robust adaptive backstepping DP control of ROVs
2022
Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, operating in environments with unpredictable disturbances, such as an aquaculture net cage. The proposed controller combines the backstepping approach with an adaptation term to ensure robustness. Using Lyapunov theory and Matrosov’s theorem the origin of the closed-loop system is proven to be: (i) globally asymptotically stable when assuming persistency of excitation, and (ii) stable and bounded, with the true position converging to the desired position if there is no pers…
Fine adaptive control of precision grip without maximum pinch strength changes after median nerve mobilization
2020
ABSTRACTFine dexterity critically depends on information conveyed by the median nerve. While the effects of its compression and vibration are well characterized, little is known about longitudinal tension and excursion. Using a force-sensitive manipulandum, a numeric dynamometer and Semmes-Weinstein monofilaments, we examined the adaptations of precision grip control, maximum pinch strength and fingertips pressure sensation threshold before and immediately after the application of longitudinal tension and excursion mobilizations applied on the median nerve. Grip (GF) and load (LF) forces applied by the thumb, index and major fingers were collected in 40 healthy young participants during thr…
A CNN Adaptive Model to Estimate PM10 Monitoring
2006
In this work we introduce a model for studying the distribution and control of atmospheric pollution from PM10. The model is based on the use of a cellular neural network (CNN) and more precisely on the integration of the mass-balance equation; at the same time it simulates the scenario regarding a planar grid describing the whole studied area (the city of Palermo) by means of a CNN and a set of Bayesian networks. The CNN allows us to define a grid system whose dynamic evolution is a redefinition of the diffusion equation that considers contributions coming from near cells for each element of the grid. Dynamics of each cell is influenced by meteorological effects and by parameters related t…
Stiffness Estimation and Adaptive Control for Soft Robots
2022
Nonostante la sorprendente crescita nello sviluppo dei robot ispirati alla natura, tra cui i cosiddetti soft robot, il potenziale di questi sistemi, che hanno intrinseche capacità di adattamento, non è ancora stato sfruttato a pieno. La ricerca ha principalmente considerato il controllo in retroazione della posizione dei giunti del robot, lasciando la gestione della cedevolezza di questi ultimi ancora in anello aperto. Peraltro, le attuali limitazioni nel processo di produzione degli attuatori a cedevolezza variabile e l'inevitabile variabilità nel tempo degli elementi elastici costitutivi, i quali sono soggetti ad usura e deformazione plastica, rendono il problema della determinazione prec…
Towards Robust Adaptive Least-Squares Parameter Estimation with Internal Feedback
1998
Abstract The new concepts of the ‘covariance matrix normalization’ and the ‘cascade’ structure of the adaptive least-squares estimator are shown to generalize and extend the use of internal information feedback in various robustness/alertness-oriented modifications to the standard ALS estimation algorithm. In the cascade estimation structure it is possible to ‘naturally’ stabilize, rather than maximize, the information matrix so that the covariance windup and blowup are effectively eliminated and the celebrated square root update of the covariance matrix is no longer needed Consequently, a new, ‘single-loop/cascade’ ALS MIMO estimation algorithm, enabling to effectively track both slow and …
Adaptive Control of Underactuated Underwater Vehicles
2008
This paper deals with a control strategy for underactuated underwater vehicles whose target is trajectory tracking. A cascade approach is employed which brings to a control law consisting of: a) an outer loop, obtained from the vehicle kinematic model, which forces this model to track the reference trajectory; b) an inner adaptive control loop which forces the system to track the reference signals given by the outer control loop. Conditions for asymptotic tracking of the trajectory and boundness of the unactuated velocities are given. Simulation tests illustrate the proposed approach.