摘要:

AbstractMotivated by recent works on parametrization of multivariable plants for model reference adaptive control (MRAC), a new robust model reference control (MRC) scheme for a class of multivariable unknown plants is presented. The salient feature of this control scheme is the improved performance of the output‐tracking property, which is hardly attainable by the traditional MRAC schemes. The controller here is devised using the concept of variable structure design which prevails in the robust control context. It is shown by a Lyapunov approach that without any persistent excitation the global stability of the overall system is achieved and the tracking errors will converge to a residual set. The size of that set can be directly related to the size of unmodelled dynamics and output disturbances explicitly as long as a set of control parameters is chosen properly (large

ISSN:0890-6327    

DOI:10.1002/acs.4480060202

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractThis contribution reports about a discrete‐time robust adaptive control strategy for single‐input/single‐output systems with arbitrary zeros. The adaptive algorithm is mainly based on a direct model reference method. The basic idea presented here is to divide the feedback law into a direct adaptive and a fixed part. By a certain choice of the non‐adaptive controller parameters the robustness of the adaptive control loop with respect to unmodelled dynamics of the plant may be increased. The non‐adaptive part of the controller can be reformulated as a bypass to the plant and will be denoted as the ‘correction network’ owing to its action on the open‐loop zeros of the augmented plant. The new adaptive control strategy removes the major drawbacks of model reference control and is investigated for speed control of a DC motor and voltage control of a synchr

ISSN:0890-6327    

DOI:10.1002/acs.4480060203

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractA new adaptive controller is presented here for rigid‐body robotic manipulators. It is stable and robust with respect to a class of external disturbances. The robustness of the adaptive controller is established without the ‘slow‐varying’ assumption and the computationally demanding regressor matrix. The control law consists of a non‐adaptive PD control part and an adaptive control part. It uses two adaptive matrices to compensate two uniformly bounded coefficient matrices derived from the original dynamics. A α σ|q̇|‐modified adaptive law is designed to adjust the adaptive matrices. A Lyapunov‐type stability analysis indicates that the closed‐loop system is uniformly ultimately bounded. The tracking error and compensation error will eventually converge into a closed region, which can be made arbitrarily small by adjusting the controller parameters. Simulation results are included to demonstrate the performance of the p

ISSN:0890-6327    

DOI:10.1002/acs.4480060204

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractThis paper presents the design and implementation of a multivariable self‐tuning temperature controller for the control of lead bromide crystal growth. The crystal grows inside a multizone transparent furnace. There are eight interacting heating zones shaping the axial temperature distribution inside the furnace. A multi‐input, multi‐output furnace model is identified on‐line by a recursive least squares estimation algorithm. A multivariable pole placement controller based on this model is derived and implemented. Comparison between single‐input, single‐output and multi‐input, multi‐output self‐tuning controllers demonstrates that the zone‐to‐zone interactions can be minimized better by a multi‐input, multi‐output controller design. This directly affects the

ISSN:0890-6327    

DOI:10.1002/acs.4480060205

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480060201

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY