نتایج جستجو برای: robust adaptive controller

تعداد نتایج: 444270  

Journal: :international journal of electrical and electronics engineering 0
jafar soltanii hossein abootorabi zarchi

in this paper, the design and implementation of adaptive speed controller for a sensorless synchronous reluctance motor (synrm) drive system is proposed. a combination of well-known adaptive input-output feedback linearization (aiofl) and adaptive backstepping (abs) techniques are used for speed tracking control of synrm. the aiofl controller is capable of estimating motor two-axis inductances ...

A. Khaki Sedigh A.S. Ashtari

Model predictive controller is widely used in industrial plants. Uncertainty is one of the critical issues in real systems. In this paper, the direct adaptive Simplified Model Predictive Control (SMPC) is proposed for unknown or time varying plants with uncertainties. By estimating the plant step response in each sample, the controller is designed and the controller coefficients are directly ca...

2002
Meihua Tai Masayoshi Tomizuka

In this paper, we propose a feedforward compensation method to enhance the performance of the lateral guidance system of heavy vehicles on automated highway systems (AHS). The feedforward controller blends well with the linear robust feedback controller. The proposed feedforward compensation is motivated by the analogy between a vehicle lateral control system on curved roads and a mechanical sy...

Journal: :Eur. J. Control 2001
Petia Georgieva Achim Ilchmann Marie-France Weirig

A biotechnological aerobic process is modelled as an ordinary diierential equation which, under mild assumptions, ensures invariance of the positive orthant and bound-edness of the concentrations. An adaptive controller is designed for this general class of processes so that the external substrate can be regulated by the dilution rate into a prespeciied arbitrarily small neighbourhood of a cons...

2012
H. Chahkandi Nejad

Permanent Magnet (PM) stepper motors are widely used in precise systems which are affected by external disturbances, parameters uncertainty and saturated control. Also, an appropriate nonlinear controller is required when the problem is to track reference signal. This paper presents a robust adaptive controller to control rotor angular position in stepper motors. The main idea to make a robust ...

2012
Ming-Chih Chien An-Chyau Huang

An adaptive controller is presented in this paper to control an n-link flexible-joint manipulator with time-varying uncertainties. The function approximation technique (FAT) is utilized to represent time-varying uncertainties in some finite combinations of orthogonal basis. The tedious computation of the regressor matrix needed in traditional adaptive control is avoided in the new design, and t...

Journal: :international journal of automotive engineering 0
m. baghaeian a. akbari

in this paper, the enhancement of vehicle stability and handling is investigated by control of the active geometry suspension system (ags). this system could be changed through control of suspension mounting point’s position in the perpendicular direction to wishbone therefore the dynamic is alternative and characteristics need to change. for this purpose, suitable controller needs to change mo...

2008
Xiuping Zheng Nannan Zhang Georigi M. Dimirovski

This paper is about the application of adaptive sliding mode control to solving congestion problem for DiffServ Network. A nonlinear fluid flow model which is transformed into a parametric strict feedback form is used to analyze and control. Backstepping design procedure is applied, which leads to a new adaptive sliding mode controller. And by using the adaptive sliding mode controller, we achi...

2017
Yuan Chen Jing Li Kanglin Wang Shurong Ning

A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances based on the backstepping control method and the Lyapunov stability theory. The adaptive fuzzy control algorithm is employed to compensate for model para...

Journal: :IEEE Trans. Robotics and Automation 2001
Mohammad Reza Sirouspour Septimiu E. Salcudean

| This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmentedwith adaptation laws to compensate for parametric uncertainties in the system dynamics. Acc...

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