scholarly journals Adaptive H-infinity tracking control for microgyroscope

2020 ◽  
Vol 12 (6) ◽  
pp. 168781402092783 ◽  
Author(s):  
Yunmei Fang ◽  
Cuicui An ◽  
Wanru Juan ◽  
Juntao Fei
Keyword(s):  
Adaptive Control ◽  
Tracking Control ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Control Technique ◽  
H Infinity ◽  
Control Scheme ◽  
H Infinity Control ◽  
Robust Adaptive ◽  
Control Methodology

An adaptive H-infinity tracking control is proposed for a z-axis microgyroscope with system nonlinearities. All the signals can be guaranteed in a bounded range, and tracking error is uniformly ultimately bounded, an H-infinity tracking performance is also achieved to a prescribed level. Adaptive control methodology is integrated with H-infinity control technique to achieve robust adaptive control, and adaptive algorithm is used to estimate the unknown system parameters. Simulation studies for microgyroscope are conducted to prove the validity of the proposed control scheme with good performance and robustness.

Adaptive control of a class of non-linear systems preceded by backlash-like hysteresis

2014 ◽  
Vol 24 (5) ◽  
Author(s):  
JIANPING CAI ◽  
LUJUAN SHEN ◽  
FUZHEN WU
Keyword(s):  
Differential Equation ◽  
Adaptive Control ◽  
Linear Systems ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Unknown Parameters ◽  
Control Scheme ◽  
Non Linear ◽  
Non Linear Systems ◽  
Robust Adaptive

We consider a class of uncertain non-linear systems preceded by unknown backlash-like hysteresis, which is modelled by a differential equation. We propose a new state feedback robust adaptive control scheme using a backstepping technique and properties of the differential equation. In this control scheme, we construct a new continuous function to design an estimator to estimate the unknown constant parameters and the unknown bound of a ‘disturbance-like’ term. The transient performance of the output tracking error can be guaranteed by the introduction of pre-estimates of the unknown parameters in our controller together with update laws. We do not require bounds on the ‘disturbance-like’ term or unknown system parameters in this scheme. The global stability of the closed-loop system can be proved.

An Robust Adaptive Control Scheme for Hydraulic Servo Systems

2006 ◽  
Author(s):  
Torben Ole Andersen ◽  
Michael Ryygaard Hansen
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Region Of Attraction ◽  
Control Scheme ◽  
Whole Space ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Adaptive Control Scheme

The paper looks into Model Reference Adaptive Control (MRAC) based on a linear plant model with constant or slowly varying parameters. The actual plant is non-linear, of a higher model order, subjected to time-varying bounded disturbances, and the measured values may be corrupted by noise. These problems are explored and the adaptive algorithms are modified to counteract instability mechanisms and for improved robustness with respect to bounded disturbances and non-modeled dynamics. The adaptive controller identifies the dominant dynamics and uses feedforward to provide anticipative actions in tracing task while an adaptive feedback part stabilizes the tracking error dynamics. Also the effects of non-modeled high frequency dynamics and bounded disturbances on stability and performance are analyzed. The adaptive control scheme is robust in the sense that it guarantees the existence of a large region of attraction from which all the trajectories remain bounded. The size of the region of attraction depends on the non-modeled dynamics in such a way that if the non-modeled dynamics is infinitely fast, the region of attraction becomes the whole space. Simulation and experimental results are presented and discussed to demonstrate the strength of the proposed algorithm.

scholarly journals Robust Adaptive Control of MIMO Pure-Feedback Nonlinear Systems via Improved Dynamic Surface Control Technique

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 96672-96685 ◽  
Author(s):  
Yang Zhou ◽  
Wenhan Dong ◽  
Shuangyu Dong ◽  
Yong Chen ◽  
Renwei Zuo ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Dynamic Surface Control ◽  
Robust Adaptive Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Surface Control ◽  
Robust Adaptive

The Robust Adaptive Control of Free-Floating Space Manipulator Systems

2001 ◽  
Author(s):  
Chen Li ◽  
Liu Yanzhu
Keyword(s):  
Adaptive Control ◽  
Jacobian Matrix ◽  
Robust Adaptive Control ◽  
Dynamic Equations ◽  
Generalized Jacobian ◽  
Space Manipulator ◽  
Floating Base ◽  
Inertial Parameters ◽  
Control Scheme ◽  
Robust Adaptive

Abstract In this paper, the kinematics and dynamics of free-floating space manipulator systems are analyzed, and it is shown that the Jacobian matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters. In order to overcome the above problems, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrate that the augmented generalized Jacobian matrix and the dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results, the robust adaptive control scheme for free-floating space manipulator with uncertain inertial parameters to track the desired trajectory in workspace is proposed, and a two-link planar space manipulator system is simulated to verify the proposed control scheme. The proposed control scheme is computationally simple, because we choose to make the controller robust to the uncertain inertial parameters rather than explicitly estimating them online. In particular, it require neither measuring the position, velocity and acceleration of the floating base with respect to the orbit nor controlling the position and attitude angle of the floating base.

Robust Adaptive Control for Vision-Based Stabilization of a Wheeled Humanoid Robot

2016 ◽  
Vol 13 (03) ◽  
pp. 1650010 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S. Dai
Keyword(s):  
Adaptive Control ◽  
Humanoid Robot ◽  
Controller Design ◽  
Robust Adaptive Control ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Robot Kinematics ◽  
Unknown Parameters ◽  
Actuator Dynamics ◽  
Robust Adaptive

A significant amount of work has been reported in the area of vision-based stabilization of wheeled robots during the last decade. However, almost all the contributions have not considered the actuator dynamics in the controller design. Considering the unknown parameters of the robot kinematics and dynamics incorporating the actuator dynamics, this paper presents a vision-based robust adaptive controller for the stabilization of a wheeled humanoid robot by using the adaptive backstepping approach. For the controller design, the idea of backstepping is used and the adaptive control technique is applied to treat all parametric uncertainties. Moreover, to attenuate the effect of the external disturbances on control performance, smooth robust compensators are employed. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to verify the effectiveness of the proposed controller.

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