Computing Actuator Bandwidth Limits for Adaptive Control

Computing actuator bandwidth limits for model reference adaptive control

Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization

In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...

Pseudo-control Hedging: a New Method for Adaptive Control

In the application of adaptive flight control, significant issues arise due to vehicle input characteristics such as actuator position limits, actuator position rate limits, and linear input dynamics. The concept of modifying a reference model to prevent an adaptation law from “seeing” and adapting-to these system characteristics is introduced. A specific adaptive control method based on this c...

Adaptive backstepping with magnitude, rate, and bandwidth constraints: Aircraft longitude control

This article presents an adaptive backstepping approach to the longitudinal (γ, α,Q) control of an aircraft that directly accommodates magnitude, rate, and bandwidth constraints on the aircraft states and the actuator signals. The article includes design of the control law, Lyapunov analysis of the stability properties of the closed loop system, and simulation based analysis of the performance.

Adaptive Control with a Nested Saturation Reference Model

This paper introduces a neural network based model reference adaptive control architecture that allows adaptation in the presence of saturation. The given plant is approximately feedback linearized, with adaptation used to cancel any matched uncertainty. A nested saturation based reference model is used. This law allows the incorporation of magnitude actuator saturation and has useful small gai...