Search results for: Adaptive control
4172 Model Reference Adaptive Control and LQR Control for Quadrotor with Parametric Uncertainties
Authors: Alia Abdul Ghaffar, Tom Richardson
A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitations. The combination of both adaptive and fixed gain control in the controller architecture can result in an enhanced tracking performance in the presence parametric uncertainties.
Keywords: UAV, quadrotor, model reference adaptive control, LQR control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5256
4171 CSTR Control by Using Model Reference Adaptive Control and PSO
Authors: Neha Khanduja
Abstract:This paper presents a comparative analysis of continuously stirred tank reactor (CSTR) control based on adaptive control and optimal tuning of PID control based on particle swarm optimization. In the design of adaptive control, Model reference adaptive control (MRAC) scheme is used, in which the adaptation law have been developed by MIT rule & Lyapunov’s rule. In PSO control parameters of PID controller is tuned by using the concept of particle swarm optimization to get optimized operating point for minimum integral square error (ISE) condition. The results show the adjustment of PID parameters converting into the optimal operating point and the good control response can be obtained by the PSO technique.
Keywords: Model reference adaptive control (MRAC), optimal control, particle swarm optimization (PSO).Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2028
4170 Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control
Authors: T. C. Kuo, Y. J. Huang, B. W. Hong
Abstract:This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance.
Keywords: Robotic manipulators, sliding mode control, adaptive law, Lyapunov theorem, robustness.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2895
4169 Robust Adaptive Vibration Control with Application to a Robot Beam
Authors: J. Fei
Abstract:This paper presents the adaptive control scheme with sliding mode compensator for vibration control problem in the presence of disturbance. The dynamic model of the flexible cantilever beam using finite element modeling is derived. The adaptive control with sliding mode compensator using output feedback for output tracking is developed to reject the external disturbance, and to improve the tracking performance. Satisfactory simulation results verify that the effectiveness of adaptive control scheme with sliding mode compensator.
Keywords: finite element model, adaptive control, sliding modecontrol, vibration suppressionProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1306
4168 Helicopter Adaptive Control with Parameter Estimation Based on Feedback Linearization
Authors: A. R. Nemati, M. Haddad Zarif, M. M. Fateh
This paper presents an adaptive feedback linearization approach to derive helicopter. Ideal feedback linearization is defined for the cases when the system model is known. Adaptive feedback linearization is employed to get asymptotically exact cancellation for the inherent uncertainty in the knowledge of the given parameters of system. The control algorithm is implemented using the feedback linearization technique and adaptive method. The controller parameters are unknown where an adaptive control law aims to drive them towards their ideal values for providing perfect model matching between the reference model and the closed-loop plant model. The converged parameters of controller would then provide good estimates for the unknown plant parameters.
Keywords: Adaptive control, helicopter, feedback linearization, nonlinear control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2244
4167 Application of Model Free Adaptive Control in Main Steam Temperature System of Thermal Power Plant
Authors: Khaing Yadana Swe, Lillie Dewan
At present, the cascade PID control is widely used to control the superheating temperature (main steam temperature). As Main Steam Temperature has the characteristics of large inertia, large time-delay and time varying, etc., conventional PID control strategy cannot achieve good control performance. In order to overcome the bad performance and deficiencies of main steam temperature control system, Model Free Adaptive Control (MFAC) - P cascade control system is proposed in this paper. By substituting MFAC in PID of the main control loop of the main steam temperature control, it can overcome time delays, non-linearity, disturbance and time variation.
Keywords: Model free Adaptive Control, Cascade Control, Adaptive Control, PID.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2158
4166 Design of Adaptive Controller Based On Lyapunov Stability for a CSTR
Nonlinearity is the inherent characteristics of all the industrial processes. The Classical control approach used for a generation often fails to show better results particularly for non-linear systems and in the systems, whose parameters changes over a period of time for a variety of reasons. Alternatively, adaptive control strategies provide very good performance. The Model Reference Adaptive Control based on Lyapunov stability analysis and classical PI control strategies are designed and evaluated for Continuous Stirred Tank Reactor, which shows appreciable dynamic nonlinear characteristics.
Keywords: Adaptive Control, CSTR, Lyapunov stability, MRAS, PID.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4323
4165 Trajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode
Authors: T. C. Kuo
Abstract:In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated.
Keywords: Fuzzy control, sliding mode control, roboticmanipulator, adaptive control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1826
4164 Adaptive Integral Backstepping Motion Control for Inverted Pendulum
Authors: Ö. Tolga Altınöz
The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conversion is performed by taking functions of unknown parameters and dynamics of the system. By using motion control model equations, inverted pendulum is simulated without any information about not only parameters but also measurable dynamics. Also these results are compare with the adaptive backstepping controller which extended with integral action that given from .
Keywords: Adaptive backstepping, inverted pendulum, nonlinear adaptive control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3333
4163 Influence of Adaptation Gain and Reference Model Parameters on System Performance for Model Reference Adaptive Control
Authors: Jan Erik Stellet
Abstract:This article presents a detailed analysis and comparative performance evaluation of model reference adaptive control systems. In contrast to classical control theory, adaptive control methods allow to deal with time-variant processes. Inspired by the works  and , two methods based on the MIT rule and Lyapunov rule are applied to a linear first order system. The system is simulated and it is investigated how changes to the adaptation gain affect the system performance. Furthermore, variations in the reference model parameters, that is changing the desired closed-loop behaviour are examinded.
Keywords: Adaptive control systems, Adaptation gain, MIT rule, Lyapunov rule, Model reference adaptive control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2084
4162 An Adaptive Approach to Synchronization of Two Chua's Circuits
Authors: Majid Reza Naseh, Mohammad Haeri
This paper introduces an adaptive control scheme to synchronize two identical Chua's systems. Introductory part of the paper is presented in the first part of the paper and then in the second part, a new theorem is proposed based on which an adaptive control scheme is developed to synchronize two identical modified Chua's circuit. Finally, numerical simulations are included to verify the effectiveness of the proposed control method.
Keywords: Chaos synchronization, adaptive control, Chua's circuits.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1263
4161 Effect of Adaptation Gain on system Performance for Model Reference Adaptive Control Scheme using MIT Rule
Authors: Pankaj Swarnkar, Shailendra Jain, R.K Nema
Abstract:Adaptive control involves modifying the control law used by the controller to cope with the fact that the parameters of the system being controlled change drastically due to change in environmental conditions or in system itself. This technique is based on the fundamental characteristic of adaptation of living organism. The adaptive control process is one that continuously and automatically measures the dynamic behavior of plant, compares it with the desired output and uses the difference to vary adjustable system parameters or to generate an actuating signal in such a way so that optimal performance can be maintained regardless of system changes. This paper deals with application of model reference adaptive control scheme in first order system. The rule which is used for this application is MIT rule. This paper also shows the effect of adaptation gain on the system performance. Simulation is done in MATLAB and results are discussed in detail.
Keywords: Adaptive control system, Adaptation gain, MIT rule, Model reference adaptive control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2039
4160 Chua’s Circuit Regulation Using a Nonlinear Adaptive Feedback Technique
Authors: Abolhassan Razminia, Mohammad-Ali Sadrnia
Chua’s circuit is one of the most important electronic devices that are used for Chaos and Bifurcation studies. A central role of secure communication is devoted to it. Since the adaptive control is used vastly in the linear systems control, here we introduce a new trend of application of adaptive method in the chaos controlling field. In this paper, we try to derive a new adaptive control scheme for Chua’s circuit controlling because control of chaos is often very important in practical operations. The novelty of this approach is for sake of its robustness against the external perturbations which is simulated as an additive noise in all measured states and can be generalized to other chaotic systems. Our approach is based on Lyapunov analysis and the adaptation law is considered for the feedback gain. Because of this, we have named it NAFT (Nonlinear Adaptive Feedback Technique). At last, simulations show the capability of the presented technique for Chua’s circuit.
Keywords: Chaos, adaptive control, nonlinear control, Chua's circuit.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1947
4159 Using Adaptive Pole Placement Control Strategy for Active Steering Safety System
Authors: Hadi Adibi-Asl, Alireza Doosthosseini, Amir Taghavipour
Abstract:This paper studies the design of an adaptive control strategy to tune an active steering system for better drivability and maneuverability. In the first step, adaptive control strategy is applied to estimate the uncertain parameters on-line (e.g. cornering stiffness), then the estimated parameters are fed into the pole placement controller to generate corrective feedback gain to improve the steering system dynamic’s characteristics. The simulations are evaluated for three types of road conditions (dry, wet, and icy), and the performance of the adaptive pole placement control (APPC) are compared with pole placement control (PPC) and a passive system. The results show that the APPC strategy significantly improves the yaw rate and side slip angle of a bicycle plant model.
Keywords: Adaptive control, active steering, pole placement, vehicle dynamics.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 950
4158 A Novel Adaptive Voltage Control Strategy for Boost Converter via Inverse LQ Servo-Control
Authors: Sorawit Stapornchaisit, Sidshchadhaa Aumted, Hiroshi Takami
Abstract:In this paper, we propose a novel adaptive voltage control strategy for boost converter via Inverse LQ Servo-Control. Our presented strategy is based on an analytical formula of Inverse Linear Quadratic (ILQ) design method, which is not necessary to solve Riccati’s equation directly. The optimal and adaptive controller of the voltage control system is designed. The stability and the robust control are analyzed. Whereas, we can get the analytical solution for the optimal and robust voltage control is achieved through the natural angular velocity within a single parameter and we can change the responses easily via the ILQ control theory. Our method provides effective results as the stable responses and the response times are not drifted even if the condition is changed widely.
Keywords: Boost converter, optimal voltage control, inverse LQ design method, type-1 servo-system, adaptive control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1613
4157 DMC with Adaptive Weighted Output
Authors: Ahmed Abbas, M.R. M Rizk, Mohamed El-Sayed
Abstract:This paper presents a new adaptive DMC controller that improves the controller performance in case of plant-model mismatch. The new controller monitors the plant measured output, compares it with the model output and calculates weights applied to the controller move. Simulations show that the new controller can help improve control performance and avoid instability in case of severe model mismatches.
Keywords: Adaptive control, dynamic matrix control, DMC, model predictive controlProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2104
4156 Adaptive MPC Using a Recursive Learning Technique
Authors: Ahmed Abbas Helmy, M. R. M. Rizk, Mohamed El-Sayed
A model predictive controller based on recursive learning is proposed. In this SISO adaptive controller, a model is automatically updated using simple recursive equations. The identified models are then stored in the memory to be re-used in the future. The decision for model update is taken based on a new control performance index. The new controller allows the use of simple linear model predictive controllers in the control of nonlinear time varying processes.
Keywords: Adaptive control, model predictive control, dynamic matrix control, online model identificationProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1592
4155 Time-Derivative Estimation of Noisy Movie Data using Adaptive Control Theory
Authors: Soon-Hyun Park, Takami Matsuo
Abstract:This paper presents an adaptive differentiator of sequential data based on the adaptive control theory. The algorithm is applied to detect moving objects by estimating a temporal gradient of sequential data at a specified pixel. We adopt two nonlinear intensity functions to reduce the influence of noises. The derivatives of the nonlinear intensity functions are estimated by an adaptive observer with σ-modification update law.
Keywords: Adaptive estimation, parameter adjustmentlaw, motion detection, temporal gradient, differential filter.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1557
4154 Neural Adaptive Switching Control of Robotic Systems
Authors: A. Denker, U. Akıncıoğlu
Abstract:In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which combines the advantages of both direct inverse control and predictive control.
Keywords: Neural networks, robotics, direct inverse control, predictive control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1965
4153 UML Model for Double-Loop Control Self-Adaptive Braking System
Authors: Heung Sun Yoon, Jong Tae Kim
In this paper, we present an activity diagram model for double-loop control self-adaptive braking system. Since activity diagram helps to improve visibility of self-adaption. We can easily find where improvement is needed on double-loop control. Double-loop control is adopted since the design conditions and actual conditions can be different. The system is reconfigured in runtime by using double-loop control. We simulated to verify and validate our model by using MATLAB. We compared single-loop control model with double-loop control model. Simulation results show that double-loop control provides more consistent brake power control than single-loop control.
Keywords: Activity diagram, automotive, braking system, double-loop, Self-adaptive, UML, vehicle.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2338
4152 Energy Efficiency of Adaptive-Rate Medium Access Control Protocols for Sensor Networks
Authors: Rooholah Hasanizadeh, Saadan Zokaei
Abstract:Energy efficient protocol design is the aim of current researches in the area of sensor networks where limited power resources impose energy conservation considerations. In this paper we care for Medium Access Control (MAC) protocols and after an extensive literature review, two adaptive schemes are discussed. Of them, adaptive-rate MACs which were introduced for throughput enhancement show the potency to save energy, even more than adaptive-power schemes. Then we propose an allocation algorithm for getting accurate and reliable results. Through a simulation study we validated our claim and showed the power saving of adaptive-rate protocols.
Keywords: Adaptive-rate, adaptive-power, MAC protocol, energy efficiency, sensor networks.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1832
4151 Adaptive Nonlinear Backstepping Control
Authors: Sun Lim, Bong-Seok Kim
Abstract:This paper presents an adaptive nonlinear position controller with velocity constraint, capable of combining the input-output linearization technique and Lyapunov stability theory. Based on the Lyapunov stability theory, the adaptation law of the proposed controller is derived along with the verification of the overall system-s stability. Computer simulation results demonstrate that the proposed controller is robust and it can ensure transient stability of BLDCM, under the occurrence of a large sudden fault.
Keywords: BLDC Motor Control, Backstepping Control, Adaptive nonlinear controlProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2034
4150 Adaptive Fuzzy Control of a Nonlinear Tank Process
Authors: A. R. Tavakolpour-Saleh, H. Jokar
Liquid level control of conical tank system is known to be a great challenge in many industries such as food processing, hydrometallurgical industries and wastewater treatment plant due to its highly nonlinear characteristics. In this research, an adaptive fuzzy PID control scheme is applied to the problem of liquid level control in a nonlinear tank process. A conical tank process is first modeled and primarily simulated. A PID controller is then applied to the plant model as a suitable benchmark for comparison and the dynamic responses of the control system to different step inputs were investigated. It is found that the conventional PID controller is not able to fulfill the controller design criteria such as desired time constant due to highly nonlinear characteristics of the plant model. Consequently, a nonlinear control strategy based on gain-scheduling adaptive control incorporating a fuzzy logic observer is proposed to accurately control the nonlinear tank system. The simulation results clearly demonstrated the superiority of the proposed adaptive fuzzy control method over the conventional PID controller.
Keywords: Adaptive control, fuzzy logic, conical tank, PID controller.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1683
4149 Performance Comparisons between PID and Adaptive PID Controllers for Travel Angle Control of a Bench-Top Helicopter
Authors: H. Mansor, S. B. Mohd-Noor, T. S. Gunawan, S. Khan, N. I. Othman, N. Tazali, R. B. Islam
This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration Derivative (PID) controller with Linear Quadratic Regulator (LQR) for all travel, pitch and yaw angle of the bench-top helicopter. The performance of the PID controller is relatively good; however, its performance could also be improved if the controller is combined with adaptive element. The objective of this research is to design adaptive PID controller and then compare the performances of the adaptive PID with the standard PID. The controller design and test is focused on travel angle control only. Adaptive method used in this project is self-tuning controller, which controller’s parameters are updated online. Two adaptive algorithms those are pole-placement and deadbeat have been chosen as the method to achieve optimal controller’s parameters. Performance comparisons have shown that the adaptive (deadbeat) PID controller has produced more desirable performance compared to standard PID and adaptive (poleplacement). The adaptive (deadbeat) PID controller attained very fast settling time (5 seconds) and very small percentage of overshoot (5% to 7.5%) for 10° to 30° step change of travel angle.
Keywords: Adaptive control, bench-top helicopter, deadbeat, pole-placement, self-tuning control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3140
4148 UAV Position Estimation Using Remote Radio Head With Adaptive Power Control
Authors: Hyeon-Cheol Lee
Abstract:The adaptive power control of Code Division Multiple Access (CDMA) communications using Remote Radio Head (RRH) between multiple Unmanned Aerial Vehicles (UAVs) with a link-budget based Signal-to-Interference Ratio (SIR) estimate is applied to four inner loop power control algorithms. It is concluded that Base Station (BS) can calculate not only UAV distance using linearity between speed and Consecutive Transmit-Power-Control Ratio (CTR) of Adaptive Step-size Closed Loop Power Control (ASCLPC), Consecutive TPC Ratio Step-size Closed Loop Power Control (CS-CLPC), Fixed Step-size Power Control (FSPC), but also UAV position with Received Signal Strength Indicator (RSSI) ratio of RRHs.
Keywords: speed estimation, adaptive power control, link-budget, SIR, multi-bit quantizer, RRHProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1870
4147 Adaptive PID Control of Wind Energy Conversion Systems Using RASP1 Mother Wavelet Basis Function Networks
Authors: M. Sedighizadeh, A. Rezazadeh
Abstract:In this paper a PID control strategy using neural network adaptive RASP1 wavelet for WECS-s control is proposed. It is based on single layer feedforward neural networks with hidden nodes of adaptive RASP1 wavelet functions controller and an infinite impulse response (IIR) recurrent structure. The IIR is combined by cascading to the network to provide double local structure resulting in improving speed of learning. This particular neuro PID controller assumes a certain model structure to approximately identify the system dynamics of the unknown plant (WECS-s) and generate the control signal. The results are applied to a typical turbine/generator pair, showing the feasibility of the proposed solution.
Keywords: Adaptive PID Control, RASP1 Wavelets, WindEnergy Conversion Systems.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1862
4146 Adaptive Impedance Control for Unknown Non-Flat Environment
Authors: Norsinnira Zainul Azlan, Hiroshi Yamaura
Abstract:This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived easily. The force error feedback is utilized in the estimation and the accurate knowledge of the environment parameters are not required by the algorithm. It is shown mathematically that the stability of the controller is guaranteed based on Lyapunov theory. Simulation results presented to demonstrate the validity of the proposed controller.
Keywords: Adaptive impedance control, Function Approximation Technique (FAT), impedance control, unknown environment position.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1449
4145 Adaptive Control Strategy of Robot Polishing Force Based on Position Impedance
Authors: Wang Zhan-Xi, Zhang Yi-Ming, Chen Hang, Wang Gang
Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. The use of robot polishing instead of manual polishing can effectively avoid these problems. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model show that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.
Keywords: robot polishing, force feedback, impedance control, adaptive controlProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 404
4144 Comparative Study of Some Adaptive Fuzzy Algorithms for Manipulator Control
Authors: Sudeept Mohan, Surekha Bhanot
Abstract:The problem of manipulator control is a highly complex problem of controlling a system which is multi-input, multioutput, non-linear and time variant. In this paper some adaptive fuzzy, and a new hybrid fuzzy control algorithm have been comparatively evaluated through simulations, for manipulator control. The adaptive fuzzy controllers consist of self-organizing, self-tuning, and coarse/fine adaptive fuzzy schemes. These controllers are tested for different trajectories and for varying manipulator parameters through simulations. Various performance indices like the RMS error, steady state error and maximum error are used for comparison. It is observed that the self-organizing fuzzy controller gives the best performance. The proposed hybrid fuzzy plus integral error controller also performs remarkably well, given its simple structure.
Keywords: Hybrid fuzzy, Self-organizing, Self-tuning, Trajectory tracking.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1384
4143 Extended Minimal Controller Synthesis for Voltage-Fed Induction Motor Based on the Hyperstability Theory
Authors: A. Ramdane, F.Naceri, S. Ramdane
in this work, we present a new strategy of direct adaptive control denoted: Extended minimal controller synthesis (EMCS). This algorithm is designed for an induction motor, which includes both electrical and mechanical dynamics under the assumptions of linear magnetic circuits. The main motivation of the EMCS control is to enhance the robustness of the MRAC algorithms, i.e. the rejection of bounded effects of rapidly varying external disturbances.
Keywords: Adaptive Control, Simple model reference adaptive control (SMRAC), Extended Minimal Controller synthesis (EMCS), Induction Motor (IM)Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1537