Готові списки джерел за темами / Classical adaptive controllers

Добірка наукової літератури з теми "Classical adaptive controllers"

Автор: Grafiati

Опубліковано: 6 вересня 2023

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Статті в журналах з теми "Classical adaptive controllers"

Costa, Victor, and Wesley Beccaro. "Benefits of Intelligent Fuzzy Controllers in Comparison to Classical Methods for Adaptive Optics." Photonics 10, no. 9 (August 30, 2023): 988. http://dx.doi.org/10.3390/photonics10090988.

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Adaptive Optics (AO) systems have been developed throughout recent decades as a strategy to compensate for the effects of atmospheric turbulence, primarily caused by poor astronomical seeing. These systems reduce the wavefront distortions using deformable mirrors. Several AO simulation tools have been developed, such as the Object-Oriented, MATLAB, and Adaptive Optics Toolbox (OOMAO), to assist in the project of AO. However, the main AO simulators focus on AO models, not prioritizing the different control techniques. Moreover, the commonly applied control strategies in ground-based telescopes are based on Integral (I) or Proportional-Integral (PI) controllers. This work proposes the integration of OOMAO models to Simulink to support the development of advanced controllers and compares traditional controllers with intelligent systems based on fuzzy logic. The controllers were compared in three scenarios of different turbulence and atmosphere conditions. The simulations were performed using the characteristics/parameters of the Southern Astrophysical Research (SOAR) telescope and assessed with the Full Width at Half Maximum (FWHM), Half Light Radius (HLR), and Strehl ratio metrics to compare the performance of the controllers. The results demonstrate that adaptive optics can be satisfactorily simulated in OOMAO adapted to Simulink and thus further increase the number of control strategies available to OOMAO. The comparative results between the MATLAB script and the Simulink blocks designed showed a maximum relative error of 3% in the Strehl ratio and 1.59% in the FWHM measurement. In the assessment of the control algorithms, the fuzzy PI controller reported a 25% increase in the FWHM metrics in the critical scenario when compared with open-loop metrics. Furthermore, the fuzzy PI controller outperformed the results when compared with the I and PI controllers. The findings underscore the constraints of conventional control methods, whereas the implementation of fuzzy-based controllers showcases the promise of intelligent approaches in enhancing control performance under challenging atmospheric conditions.

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Intidam, Abdessamad, Hassan El Fadil, Halima Housny, Zakariae El Idrissi, Abdellah Lassioui, Soukaina Nady, and Abdeslam Jabal Laafou. "Development and Experimental Implementation of Optimized PI-ANFIS Controller for Speed Control of a Brushless DC Motor in Fuel Cell Electric Vehicles." Energies 16, no. 11 (May 29, 2023): 4395. http://dx.doi.org/10.3390/en16114395.

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This paper compares the performance of different control techniques applied to a high-performance brushless DC (BLDC) motor. The first controller is a classical proportional integral (PI) controller. In contrast, the second one is based on adaptive neuro-fuzzy inference systems (proportional integral-adaptive neuro-fuzzy inference system (PI-ANFIS) and particle swarm optimization-proportional integral-adaptive neuro-fuzzy inference system (PSO-PI-ANFIS)). The control objective is to regulate the rotor speed to its desired reference value in the presence of load torque disturbance and parameter variations. The proposed controller uses a dSPACE platform (MicroLabBox controller board). The experimental prototype comprises a PEMFC system (the Nexa Ballard FC power generator: 1.2 kW, 52 A) and a brushless DC motor BLDC of 1 kW 1000 rpm. The PSO-PI-ANFIS controller presents better performance than the PI-ANFIS and classical PI controllers due to its ability to optimize the PI-ANFIS controller’s parameters using the particle swarm optimization (PSO) algorithm. This optimization results in improved tracking accuracy and reduced overshoot and settling time.

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Kamal, Tariq, Murat Karabacak, Vedran S. Perić, Syed Zulqadar Hassan, and Luis M. Fernández-Ramírez. "Novel Improved Adaptive Neuro-Fuzzy Control of Inverter and Supervisory Energy Management System of a Microgrid." Energies 13, no. 18 (September 10, 2020): 4721. http://dx.doi.org/10.3390/en13184721.

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In this paper, energy management and control of a microgrid is developed through supervisor and adaptive neuro-fuzzy wavelet-based control controllers considering real weather patterns and load variations. The supervisory control is applied to the entire microgrid using lower–top level arrangements. The top-level generates the control signals considering the weather data patterns and load conditions, while the lower level controls the energy sources and power converters. The adaptive neuro-fuzzy wavelet-based controller is applied to the inverter. The new proposed wavelet-based controller improves the operation of the proposed microgrid as a result of the excellent localized characteristics of the wavelets. Simulations and comparison with other existing intelligent controllers, such as neuro-fuzzy controllers and fuzzy logic controllers, and classical PID controllers are used to present the improvements of the microgrid in terms of the power transfer, inverter output efficiency, load voltage frequency, and dynamic response.

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Zhang, Chao, Sheng Xiu Zhang, and Yi Nan Liu. "Invariant Manifolds Based Modular Adaptive Control for a Class of Nonlinear Systems with Application to Flight Control." Applied Mechanics and Materials 373-375 (August 2013): 1488–92. http://dx.doi.org/10.4028/www.scientific.net/amm.373-375.1488.

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In this paper a novel modular framework for adaptive control for a class of nonlinear system is developed and applied to flight controller design. The framework is based on the invariant manifolds approach with a new type of reduced-order estimator which allows for stable dynamics to be assigned to the estimation error. We show that this method can be applied to systems with unknown parameters, leading to a new class of modular adaptive controllers which is easier to tune compared to controllers obtained using the classical adaptive approaches and does not suffer from unpredictable dynamical behavior of the parameter update laws.

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Humaidi, Amjad J., Ibraheem Kasim Ibraheem, Ahmad Taher Azar, and Musaab E. Sadiq. "A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles." Entropy 22, no. 7 (June 30, 2020): 723. http://dx.doi.org/10.3390/e22070723.

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This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

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Noordin, Aminurrashid, Mohd Ariffanan Mohd Basri, and Zaharuddin Mohamed. "Real-Time Implementation of an Adaptive PID Controller for the Quadrotor MAV Embedded Flight Control System." Aerospace 10, no. 1 (January 6, 2023): 59. http://dx.doi.org/10.3390/aerospace10010059.

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This paper presents the real-time implementation of an altitude-embedded flight controller using proportional, integral, and derivative (PID) control, adaptive PID (APID) control, and adaptive PID control with a fuzzy compensator (APIDFC) for a micro air vehicle (MAV), specifically, for a Parrot Mambo Minidrone. In order to obtain robustness against disturbance, the adaptive mechanism, which was centered on the second-order sliding mode control, was applied to tune the classical parameters of the PID controller of the altitude controller. Additionally, a fuzzy compensator was introduced to diminish the existence of the chattering phenomena triggered by the application of the sliding mode control. Four simulation and experimental scenarios were conducted, which included hovering, as well as sine, square, and trapezium tracking. Moreover, the controller’s resilience was tested at 1.1 m above the ground by adding a mass of about 12.5 g, 15 s after the flight launch. The results demonstrated that all controllers were able to follow the reference altitude, with some spike or overshoot. Although there were slight overshoots in the control effort, the fuzzy compensator reduced the chattering phenomenon by about 6%. Moreover, it was found that in the experiment, the APID and APIDFC controllers consumed 2% and 4% less power, respectively, when compared to the PID controller used to hover the MAV.

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Braz-César, Manuel, and Rui Barros. "Optimization of a Fuzzy Logic Controller for MR Dampers Using an Adaptive Neuro-Fuzzy Procedure." International Journal of Structural Stability and Dynamics 17, no. 05 (December 8, 2016): 1740007. http://dx.doi.org/10.1142/s0219455417400077.

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Intelligent and adaptive control systems are naturally suitable to deal with dynamic uncertain systems with non-smooth nonlinearities; they constitute an important advantage over conventional control approaches. This control technology can be used to design powerful and robust controllers for complex vibration engineering problems such as vibration control of civil structures. Fuzzy logic based controllers are simple and robust systems that are rapidly becoming a viable alternative for classical controllers. Furthermore, new control devices such as magnetorheological (MR) dampers have been widely studied for structural control applications. In this paper, we design a semi-active fuzzy controller for MR dampers using an adaptive neuro-fuzzy inference system (ANFIS). The objective is to verify the effectiveness of a neuro-fuzzy controller in reducing the response of a building structure equipped with a MR damper operating in passive and semi-active control modes. The uncontrolled and controlled responses are compared to assess the performance of the fuzzy logic based controller.

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Zhu, Gao Ke, Xiao Gang Duan, and Hua Deng. "Adaptive Fuzzy PID Force Control for a Prosthetic Hand." Applied Mechanics and Materials 433-435 (October 2013): 93–101. http://dx.doi.org/10.4028/www.scientific.net/amm.433-435.93.

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An adaptive fuzzy proportional-integral-derivative (PID) force control strategy for a prosthetic hand is presented. The classical PID controller is also applied on the prosthetic hand as comparison. The parameters of PID controller are firstly tuned by Cut and Try method. Then a fuzzy logic system is used to adjust those parameters on line. Real-time force control experiments are realized on LabVIEW and PXI (PCI eXtensions for Instrumentation) real-time (RT) platforms. A rigid object and a compliant object are grasped by the prosthesis respectively to test the performance of controllers. Experimental results indicate that the adaptive fuzzy PID force controller is more effective than PID controller.

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Mahdi, Shaymaa M., Noor Q. Yousif, Ahmed A. Oglah, Musaab E. Sadiq, Amjad J. Humaidi, and Ahmad Taher Azar. "Adaptive Synergetic Motion Control for Wearable Knee-Assistive System: A Rehabilitation of Disabled Patients." Actuators 11, no. 7 (June 22, 2022): 176. http://dx.doi.org/10.3390/act11070176.

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In this study, synergetic-based adaptive control design is developed for trajectory tracking control of joint position in knee-rehabilitation system. This system is often utilized for rehabilitation of patients with lower-limb disabilities. However, this knee-assistive system is subject to uncertainties when applied to different persons undertaking exercises. This is due to the different masses and inertias of different persons. In order to cope with these uncertainties, an adaptive scheme has been proposed. In this study, an adaptive synergetic control scheme is established, and control laws are developed to ensure stable knee exoskeleton system subjected to uncertainties in parameters. Based on Lyapunov stability analysis, the developed adaptive synergetic laws are used to estimate the potential uncertainties in the coefficients of the knee-assistive system. These developed control laws guarantee the stability of the knee rehabilitation system controlled by the adaptive synergetic controller. In this study, particle swarm optimization (PSO) algorithm is introduced to tune the design parameters of adaptive and non-adaptive synergetic controllers, in order to optimize their tracking performances by minimizing an error-cost function. Numerical simulations are conducted to show the effectiveness of the proposed synergetic controllers for tracking control of the exoskeleton knee system. The results show that compared to classical synergetic controllers, the adaptive synergetic controller can guarantee the boundedness of the estimated parameters and hence avoid drifting, which in turn ensures the stability of the controlled system in the presence of parameter uncertainties.

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Uçak, Kemal, and Beyza Nur Arslantürk. "Adaptive MIMO fuzzy PID controller based on peak observer." An International Journal of Optimization and Control: Theories & Applications (IJOCTA) 13, no. 2 (July 9, 2023): 139–50. http://dx.doi.org/10.11121/ijocta.2023.1247.

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In this paper, a novel peak observer based adaptive multi-input multi-output (MIMO) fuzzy proportional-integral-derivative (PID) controller has been introduced for MIMO time delay systems. The adaptation mechanism proposed by Qiao and Mizumoto [1] for single-input single-output (SISO) systems has been enhanced for MIMO system adaptive control. The tracking, stabilization and disturbance rejection performances of the proposed adaptation mechanism have been evaluated for MIMO systems by comparing with non-adaptive fuzzy PID and classical PID controllers. The obtained results indicate that the introduced adjustment mechanism for MIMO fuzzy PID controller can be successfully deployed for MIMO time delay systems.

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Більше джерел

Дисертації з теми "Classical adaptive controllers"

Roy, Sayan Basu. "Relaxing persistence of excitation for parameter convergence in adaptive control : an initial excitation based approach." Thesis, IIT, Delhi, 2019. http://eprint.iitd.ac.in:80//handle/2074/8067.

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Jacome, Isac Calistrato. "Estudo comparativo de estrat?gias de controle aplicadas a um gerador s?ncrono." Universidade Federal do Rio Grande do Norte, 2012. http://repositorio.ufrn.br:8080/jspui/handle/123456789/18570.

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Made available in DSpace on 2015-03-03T15:07:34Z (GMT). No. of bitstreams: 1 IsacCJ_DISSERT.pdf: 1949059 bytes, checksum: dd9548aaca6ef14a8a29ea281a293986 (MD5) Previous issue date: 2012-06-25
Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
The robustness and performance of the Variable Structure Adaptive Pole Placement Controller are evaluated in this work, where this controller is applied to control a synchronous generator connected to an infinite bus. The evaluation of the robustness of this controller will be accomplished through simulations, where the control algorithm was subjected to adverse conditions, such as: disturbances, parametric variations and unmodeled dynamic. It was also made a comparison of this control strategy with another one, using classic controllers. In the simulations, it is used a coupled model of the synchronous generator which variables have a high degree of coupling, in other words, if there is a change in the input variables of the generator, it will change all outputs simultaneously. The simulation results show which control strategy performs better and is more robust to disturbances, parametric variations and unmodeled dynamics for the control of Synchronous Generator
A robustez e o desempenho do Controlador Adaptativo por Posicionamento de Polos e Estrutura Variavel s?o avaliados neste trabalho, onde este controlador e aplicado para o controle de um Gerador Sncrono conectado a um barramento infi- nito. A avaliac?o da robustez deste controlador sera realizada atraves de simulac?es, onde o algoritmo de controle foi submetido a condic?es adversas, tais como: perturba c?es, variac?es parametricas e din?mica n?o modelada. Tambem foi feita uma comparac?o desta estrategia de controle, com outra utilizando controladores classicos. Nas simulac?es, e utilizado o modelo acoplado do gerador sncrono, onde suas variaveis apresentam um alto grau de acoplamento, ou seja, se houver alterac?o em uma das variaveis de entrada do gerador todas as suas sadas ser?oo alteradas simultaneamente. Os resultados das simulac?es demonstram qual estrategia de controle apresenta melhor desempenho, e e mais robusta a perturbac?es, variac?es parametricas e din?mica n?o modelada para o controle do Gerador S?ncrono

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Частини книг з теми "Classical adaptive controllers"

Leyla, Fali, Zizouni Khaled, Saidi Abdelkrim, Bousserhane Ismail Khalil, and Djermane Mohamed. "Adaptive Sliding Mode Control Vibrations of Structures." In Vibration Control of Structures [Working Title]. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.98193.

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The sliding mode controller is one of the interesting classical nonlinear controllers in structural vibration control. From its apparition, in the middle of the twentieth century, this controller was a subject of several studies and investigations. This controller was widely used in the control of various semi-active or active devices in the civil engineering area. Nevertheless, the sliding mode controller offered a low sensitivity to the uncertainties or the system condition variations despite the presence of the Chattering defect. However, the adaptation law is one of the frequently used solutions to overcome this phenomenon offering the possibility to adapt the controller parameters according to the system variations and keeping the stability of the whole system assured. The chapter provides a sliding mode controller design reinforced by an adaptive law to control the desired state of an excited system. The performance of the adaptive controller is proved by numerical simulation results of a three-story excited structure.

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"Indirect Power Control (IDPC) of DFIG Using Classical & Adaptive Controllers Under MPPT Strategy." In Improved Indirect Power Control (IDPC) of Wind Energy Conversion Systems (WECS), edited by Fayssal Amrane and Azeddine Chaiba, 26–85. BENTHAM SCIENCE PUBLISHERS, 2019. http://dx.doi.org/10.2174/9789811412677119010005.

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In this chapter, we present a comparative study of conventional Indirect Power Control (IDPC) algorithm of DFIG-Wind turbine in grid-connection mode, using PI and PID controllers via Maximum power point tracking (MPPT) strategy. Firstly, the conventional IDPC based on PI controllers will be described using simplified model of DFIG through stator flux orientation and wind-turbine model. The MPPT strategy is developed using Matlab/Simulink® with two wind speed profiles in order to ensure the robustness of wind-system by maintaining the Power coefficient (Cp) at maximum value and reactive power at zero level; regardless unexpectedF wind speed variation. Secondly, the rotor side converter (RSC) and Grid side converter (GSC) are illustrated and developed using Space vector modulation (SVM) in order to minimize the stress and the harmonics and to have a fixed switching frequency. In this context, the switching frequency generated by IDPC to control the six IGBTs of the inverter (RSC), and this control algorithm works under both Sub- and Supersynchronous operation modes and depending to the wind speed profiles. The quadrants operation modes of the DFIG are described in details using real DFIG to show the power flow under both modes (motor and generator in the four (04) quadrants. Finally, the conventional IDPC have several drawbacks as: response time, power error and overshoot. In this context, the PID and MRAC (adaptive regulator) controllers are proposed instead of the PI to improve the wind-system performances via MPPT strategy with/without robustness tests. The obtained simulation results under Matlab/Simulink® show high performances (in terms of power error, power tracking and response time) in steady and transient states despite sudden wind speed variation, whereas big power error and remarkable overshoot are noted using robustness tests, so the proposed IDPC can not offer big improvement under parameter variation.

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Hassan Mohamed, Tarek, Hussein Abubakr, Mahmoud M. Hussein, and Gaber S. Salman. "Adaptive Load Frequency Control in Power Systems Using Optimization Techniques." In AI and Learning Systems - Industrial Applications and Future Directions. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.93398.

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At present, simple and classical tuned controllers are widely used in the power system load frequency control (LFC) application. Existing LFC system parameters are usually tuned based on experiences, classical methods, and trial and error approaches, and they are incapable of providing good dynamic performance over a wide range of operating conditions and various load scenarios. Therefore, the novel modeling and control approaches are strongly required, to obtain a new trade-off between efficiency and robustness. Thus, the proposed techniques in this chapter are referred to be an adaptive control technique based on new optimization methods such as Jaya, Practical Swarm Optimization Algorithm, etc., which are used to make an on-line tuning of the LFC parameters in order to face the previous challenges in LFC. The system under study is a small microgrid with a renewable energy source and variable demand load. Digital simulation results are discussed.

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Munaga, Satyakiran, and Francky Catthoor. "Reliability-Aware Proactive Energy Management in Hard Real-Time Systems." In Technological Innovations in Adaptive and Dependable Systems, 215–25. IGI Global, 2012. http://dx.doi.org/10.4018/978-1-4666-0255-7.ch013.

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Advanced technologies such as sub-45nm CMOS and 3D integration are known to have more accelerated and increased number of reliability failure mechanisms. Classical reliability assessment methodology, which assumes ad-hoc failure criteria and worst-case for all influencing dynamic aspects, is no longer viable in these technologies. In this paper, the authors advocate that managing temperature and reliability at run-time is necessary to overcome this reliability-wall without incurring significant cost penalty. Nonlinear nature of modern systems, however, makes the run-time control very challenging. The authors suggest that full cost-consciousness requires a truly proactive controller that can efficiently manage system slack with future in perspective. This paper introduces the concept of “gas-pedal,” which enhances the effectiveness of the proactive controller in minimizing the cost without sacrificing the hard guarantees required by the constraints. Reliability-aware dynamic energy management of a processor running AVC motion compensation task is used as a motivational case study to illustrate the proposed concepts.

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Alain, Kammogne Soup Soup Tewa, and Fotsin Hilaire Bertrand. "Robust Control Methods for Finite Time Synchronization of Uncertain Nonlinear Systems." In Advances in Systems Analysis, Software Engineering, and High Performance Computing, 364–98. IGI Global, 2021. http://dx.doi.org/10.4018/978-1-7998-5788-4.ch015.

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This chapter addresses the dynamic analysis and two different control strategies for the synchronization of new topology of Colpitts oscillator submitted to uncertainties and external disturbances. The diagrams obtained reveal precisely spirals bifurcation and chaos when for a specific values of the system parameters. Based on the relevant control, the authors have controlled this striking phenomenon in the system. The first (control) deals with the sliding mode control (SMC) method. Some important aspects of the design and implementation are considered to reach a suitable controller for the applications. The second presents an adaptive robust tracking control strategy based on a modified polynomial observer which tends to follow exponentially the chaotic Colpitts circuits brought back to a topology of the Chua oscillator with perturbations. To highlight the contribution, they also present some simulation results with the purpose to compare the proposed method to the classical polynomial observer.

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You, Li. "Robust Finite-time Adaptive Control Algorithm for Satellite Attitude Maneuver." In Advanced Control of Flight Vehicle Maneuver and Operation, 95–126. BENTHAM SCIENCE PUBLISHERS, 2023. http://dx.doi.org/10.2174/9789815050028123040006.

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A robust adaptive finite-time controller for satellite fast attitude maneuver is proposed in this paper. The standard sliding mode is robust to some typical disturbances, but the convergence speed is slow and often could not meet the system requirements. The finite-time sliding mode not only has the robustness of the classical sliding mode, but also could greatly improve the terminal convergence speed. In order to deal with inertia matrix uncertainty, a finite-time adaptive law for inertia matrix estimation variables is proposed. A new method to deal with the singularity problem is proposed,based on the properties of Euler rotations. Considering that the variable estimation system has no direct feedback, an auxiliary state that converges slower than the system is designed to achieve finite-time stability. The Lyapunov method is used to demonstrate the global finite-time stability of the ensemble, and the numerical simulation results demonstrate the performance of the controller.<br>

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Kumar Sarkar, Pradip. "Driver Assistance Technologies." In Transportation Systems for Smart, Sustainable, Inclusive and Secure Cities [Working Title]. IntechOpen, 2020. http://dx.doi.org/10.5772/intechopen.94354.

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Topic: Driver Assistance Technology is emerging as new driving technology popularly known as ADAS. It is supported with Adaptive Cruise Control, Automatic Emergency Brake, blind spot monitoring, lane change assistance, and forward collision warnings etc. It is an important platform to integrate these multiple applications by using data from multifunction sensors, cameras, radars, lidars etc. and send command to plural actuators, engine, brake, steering etc. ADAS technology can detect some objects, do basic classification, alert the driver of hazardous road conditions, and in some cases, slow or stop the vehicle. The architecture of the electronic control units (ECUs) is responsible for executing advanced driver assistance systems (ADAS) in vehicle which is changing as per its response during the process of driving. Automotive system architecture integrates multiple applications into ADAS ECUs that serve multiple sensors for their functions. Hardware architecture of ADAS and autonomous driving, includes automotive Ethernet, TSN, Ethernet switch and gateway, and domain controller while Software architecture of ADAS and autonomous driving, including AUTOSAR Classic and Adaptive, ROS 2.0 and QNX. This chapter explains the functioning of Assistance Driving Technology with the help of its architecture and various types of sensors.

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Тези доповідей конференцій з теми "Classical adaptive controllers"

Torres-Mendez, Sergio J., Gokhan Gungor, Baris Fidan, and Amir Khajepour. "Comparison of Adaptive and Robust Controllers for Fully-Constrained and Redundant Planar Cable Robots." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-37043.

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This work deals with the design and comparison of two adaptive position control schemes with a classical PID controller for fully constrained and redundant planar robots. First, a novel method based on inclusion of virtual cables facilitates the linear separation of the uncertain parameters from the input-output signals. Then, two Lyapunov based adaptive controllers based on the sliding mode and PD schemes are designed to compensate for the structure matrix uncertainties, which result from errors in the anchor point locations. Finally, the adaptive controllers are evaluated and compared with a classical PID controller through simulations for a desired 2D singularity-free pose of the mobile platform. The simulation results have shown that the adaptive PD control scheme has the best performance for both fully constrained and redundant cases.

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Khalid, Adnan, Ahmed Hussnain Shahid, Kamran Zeb, Amjad Ali, and Aun Haider. "Comparative assessment of classical and adaptive controllers for Automatic Voltage Regulator." In 2016 International Conference on Advanced Mechatronic Systems (ICAMechS). IEEE, 2016. http://dx.doi.org/10.1109/icamechs.2016.7813506.

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Yildiz, Yildiray, Anuradha Annaswamy, Diana Yanakiev, and Ilya V. Kolmanovsky. "Automotive Powertrain Control Problems Involving Time Delay: An Adaptive Control Approach." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2295.

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This paper describes applications of the Adaptive Posicast Controller (APC) to Idle Speed Control (ISC) and Fuel-to-Air Ratio (FAR) control problems in automotive engines. The APC is an adaptive controller with explicit delay compensation built upon the ideas of the classical Smith Predictor, finite spectrum assignment and adaptive control. Experimental results are reported, which demonstrate improved performance compared to existing baseline controllers and effective handling of time delays and uncertainties in these applications. Aspects important to implementation and to reduction in calibration time and effort, including the selection of initial parameter values and their adaptation rates, preventing parameter drift and accounting for time-varying delay, are addressed.

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Ekanayake, Dinesh B., and Ram V. Iyer. "Robust Control of Magnetostrictive Actuators With Uncertain System." In ASME 2008 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASMEDC, 2008. http://dx.doi.org/10.1115/smasis2008-541.

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In this paper, the problem of designing a state feedback controller over a wide frequency range (0 – 1kHz) for a magnetostrictive actuator connected to a mechanical system is discussed. Our model for the magnetostrictive actuator includes hysteresis, classical and excess eddy current losses. The hysteresis nonlinearity is modeled using a classical Preisach operator, and it is assumed that the density function is approximately known. The feedback controller achieves uniform ultimate boundedness — a property weaker than global asymptotic stability when the trajectory to be tracked is zero — in the presence of exogenous disturbances and uncertainty in the model. The main objective of the paper is to demonstrate that knowledge of the induced emf can be used to eliminate the need for hysteresis compensation in the control scheme. The novelty of this work is that we utilize the induced emf in the actuator coil as an observed variable, and also demonstrate how this quantity can be measured in real-time. Most controllers use inverse compensators to cancel out actuator hysteresis nonlinearity. We show that we can achieve uniform ultimate bounded control without an explicit inverse computation (using least squares minimization or otherwise).

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Choi, Young-Tai, Norman M. Wereley, and Gregory J. Hiemenz. "Frequency Shaped Semi-Active Control for Magnetorheological Fluid-Based Vibration Control Systems." In ASME 2013 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/smasis2013-3268.

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Novel semi-active vibration controllers are developed in this study for magnetorheological (MR) fluid-based vibration control systems, including: (1) a band-pass frequency shaped semi-active control algorithm, (2) a narrow-band frequency shaped semi-active control algorithm. These semi-active vibration control algorithms designed without resorting to the implementation of an active vibration control algorithms upon which is superposed the energy dissipation constraint. These new Frequency Shaped Semi-active Control (FSSC) algorithms require neither an accurate damper (or actuator) model, nor system identification of damper model parameters for determining control current input. In the design procedure for the FSSC algorithms, the semi-active MR damper is not treated as an active force producing actuator, but rather is treated in the design process as a semi-active dissipative device. The control signal from the FSSC algorithms is a control current, and not a control force as is typically done for active controllers. In this study, two FSSC algorithms are formulated and performance of each is assessed via simulation. Performance of the FSSC vibration controllers is evaluated using a single-degree-of-freedom (DOF) MR fluid-based engine mount system. To better understand the control characteristics and advantages of the two FSSC algorithms, the vibration mitigation performance of a semi-active skyhook control algorithm, which is the classical semi-active controller used in base excitation problems, is compared to the two FSSC algorithms.

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Nespeca, Pascal, and Nesrin Sarigul-Klijn. "Stability Behavior of Model Reference Adaptive Control Methods in Presence of Aircraft Structural Damage." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-43315.

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Any classical control design starts by first satisfying stability and then looking towards satisfying transient requirements. Similarly, a Model Reference Adaptive Control (MRAC) Method should start with a stability analysis. Lyapunov function analysis is first used to justify the stability of the adaptive scheme. Next, a numerical study is conducted to predict the stability behavior of three different MRAC methods in the presence of large unanticipated changes in the dynamics of an aircraft. The Model reference adaptive control methods studied are: Method:1, an adaptive gain method; Method:2, a Neural Network (NN) approximation technique; and, Method:3, a linear approximation technique. For comparison purposes, the aircraft is assumed to have Linear Time Invariant, LTI dynamics. Each algorithm is given full state feedback, an inaccurate reference model and a poor Linear Quadratic Regulator, LQR design for the true plant. It is seen that when the LQR stabilizes the true plant, the three algorithms all achieve the same steady state error to a step command. Numerical results predict the different types of stability behavior that the algorithms provide. It is seen that the Methods: 2 and 3 can only provide a bounded stability, whereas Method: 1 can provide an asymptotic stability. A robust static controller can satisfy stability, but a robust static controller that accommodates variations in plant dynamics might not always be able to match transient requirements as expected. Although there may be no analytical guarantee from adaptive controllers of transient performance, one might look at anecdotal performances.

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Jafari, Aghil, Mehdi Rezaei, Ali Talebi, Saeed Shiry Ghidary, and Reza Monfaredi. "An Adaptive Hybrid Force/Motion Control Design for Robot Manipulators Interacting in Constrained Motion With Unknown Non-Rigid Environments." In ASME 2012 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/imece2012-93504.

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In the present paper, the objective of hybrid control is specified and an adaptive hybrid force/motion control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces. An adaptive scheme is presented which makes the controller robust when the robot is in interaction with an unknown non-rigid environment. By using the classical Lyapunov method, it is demonstrated that the proposed control law ensures the tracking of the unconstrained components of the desired end-effector trajectories, with regulation of the desired contact force along the constrained direction. Simulation results verify the effectiveness of our prosperous adaptive hybrid control in robot-environment interaction.

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Hovakimyan, Naira, Vijay Patel, and Chengyu Cao. "Rohrs Example Revisited by L1 Adaptive Controller: The Classical Control Perspective." In AIAA Guidance, Navigation and Control Conference and Exhibit. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2007. http://dx.doi.org/10.2514/6.2007-6597.

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Chen, Yuansheng, Jose Palacios, Edward C. Smith, and Jinhao Qiu. "Tracking Control of Piezoelectric Stack Actuator Using Modified Prandtl–Ishlinskii Model." In ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASMEDC, 2011. http://dx.doi.org/10.1115/smasis2011-4939.

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This paper presents the development of Prandtl–Ishlinskii hysteresis model and tracking control of piezoelectric stack actuator with severe hysteresis. Classic Prandtl–Ishlinskii model which is a linearly weighted superposition of many backlash operators with different threshold and weight values, inherits the symmetry property of the backlash operator at about the center point of the loop formed by the operator. To describe the asymmetric hysteresis of piezoelectric stack actuators, two sets of weighting parameters are proposed to modify the weight values of backlash operators in the ascending and descending branches. Hence, two weight values correspond to one operator. Each pair of the weight values slides smoothly from one to another when the output of their corresponding operator is at a desired threshold. A feedforward controller was designed based on the modified model, which can precisely describe the inverse of the hysteresis. Then the modified model and the hysteresis of the piezoelectric stack actuator cancelled each other. A feedback controller was design to compensate for actuator creep. Different types of signal are used to test the feedforward and feedback controllers. The results show that the proposed hysteresis control scheme which combines feedforward and feedback controllers greatly improves the tracking accuracy of the piezoelectric actuator and the error is less than 0.15 μm.

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Zhang, Zilong, and C. Steve Suh. "A Novel Nonlinear Time-Frequency Strategy for Stabilizing Inverted Pendulum Cart System." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-86758.

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The stabilization of the inverted pendulum-cart system (IPCS) is a classical problem in the control engineering. The study of IPCS is motivated by its applications to the balancing of rocket boosters and bipedal robots. IPCS represents a class of nonlinear, under-actuated, and unstable system hard to be controlled in real-time. In this paper, a novel nonlinear time-frequency control (NTFC) strategy is applied to stabilize an inverted pendulum mounted on a cart. The proposed controller design is adaptive and employs discrete the wavelet transform and filtered-x least-mean-square (Fx-LMS) algorithm to realize the control in real-time. Using the wavelet transform, the adaptive controller is demonstrated to inhibit the deteriorations of the time and frequency responses simultaneously before the residual oscillation is too broadband to be controlled. The presented controller consists of two adaptive finite impulse response filers that operate on the wavelet coefficients: the first one realizes the online identification and provides a priori information in real-time while the second one realizes a feedforward control and rejects the uncontrollable input signal based on the first FIR filter. The equation of motion is derived based on the Newton’s Second law of motion and the model id simulated in MATLAB for verification. A number of commonly used control methods for the stabilization of the IPCS are investigated and evaluated against the proposed NTFC strategy. The simulation results show that the proposed control strategy is feasible for balancing the IPCS for a large, tilted initial angle within a short time interval and strongly robust to external impact and perturbation in real-time.

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