Robust adaptive control

Xem 1-20 trên 22 kết quả Robust adaptive control
  • This paper proposes an adaptive robust Fuzzy controller based on Backstepping scheme to solve with the model unknown and parameter disturbances for robot manipulator. In this research, the robust adaptive fuzzy system is combined with Backstepping design method to remove the matching condition requirement and to provide boundedness of tracking errors, even under dominant model uncertainties.

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  • The efficient and effective speed controllers can be designed by using adaptive control techniques. In which the conventional PI controller is replaced by structures based on Sliding Mode Control (SMC) strategy. SMC is known for its capability to cope with bounded disturbance as well as model imprecision which makes it ideal for the robust nonlinear control of IM drives.

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  • This article highlights a robust adaptive tracking control approach for a nonholonomic wheeled mobile robot by which the bad problems of both unknown slippage and uncertainties are dealt with. The radial basis function neural network in this proposed controller assists unknown smooth nonlinear dynamic functions to be approximated. Furthermore, a technical solution is also carried out to avoid actuator saturation. The validity and efficiency of this novel controller, finally, are illustrated via comparative simulation results.

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  • Direct MRAS offers a potential solution to reduce the tracking errors in the presence of uncertainties and variation in plant behavior. However, this control algorithm may fail to be robust to measurement noise. In order to solve this trouble, the indirect MRAS is introduced that permanently adjust the parameters of observers. The adaptive adjusting law is derived by applying Lyapunov theory. The adaptive algorithm that is shown in this paper is quite simple, robust and converges quickly. Performances of the controlled systems are studied through simulation in Matlab/Simulink environment.

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  • In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Twin Rotor MIMO System (TRMS). The TRMS is an open-loop unstable, nonlinear and multi output system.

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  • The ANFIS is thus employed to eliminate the chattering and simultaneously the HTSS provides finite system-state convergence time. By combining HTSS with ANFIS, the DC-AC power converter of AMM will achieve robust performance. Experimental results are given to conform that the proposed technique can obtain low total harmonic distortion (THD) and fast transience even under phase-controlled loads.

    pdf5p praishy2 27-02-2019 12 2   Download

  • Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control.

    pdf622p nvavan 08-05-2015 77 27   Download

  • The theory of switched systems concerns hybrid dynamical systems composed of a family of continuous–time subsystems and a switching law, orchestrating switching between these subsystems. Systems of this class have been identified in many natural and man– made systems, and are recently widely studied by control theorists, computer scientists, practicing engineers and others.

    pdf0p 123859674 30-06-2012 77 12   Download

  • Các kết quả trình bày ở đây cho phép tổ chức để biết được trạng thái hiện tại của BI thực hiện và chiến lược để đạt được một mức độ cao về hiệu suất BI. Các mô hình trưởng thành BI trình bày trong cuốn sách này phục vụ như một hướng dẫn lập kế hoạch và sự hiểu biết sáng kiến ​​BI trên một quy mô lớn. Các hai loại cơ quan đại diện được sử dụng trong việc tạo ra mô hình (tổ chức đại diện và liên tục đại diện) đảm bảo đo lường cả trưởng thành và khả năng của các...

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  • A trend of inverstigation of Nonlinear Control Systems has been present over the last few decades. As a result the methods for its analysis and design have improved rapidly. This book includes nonlinear design topics such as Feedback Linearization, Lyapunov Based Control, Adaptive Control, Optimal Control and Robust Control.

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  • This paper presents a control of active suspension system for quarter-car model with two-degree-of-freedom using H and nonlinear adaptive robust control method. Suspension dynamics is linear and treated by H method which guarantees the robustness of closed loop system under the presence of uncertainties and minimizes the effect of road disturbance to system.

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  • This paper has presented an adaptive fuzzy controller for permanent magnet synchronous motor. A rotor speed estimation based on sliding mode observer. Space-vector pulse width modulation was used for slipping frequency vector control system. The simulation architecture of system was implemented on Modelsim and Matlab/Simulink.

    pdf5p praishy2 27-02-2019 9 0   Download

  • This paper proposes a new modeling of a single-degree-of-freedom electrostatic suspension system working with large aspect ratio in which the fringing field is uncertain. Based on the model, an adaptive sliding mode control for position of the object is constructed. Robustness and global stability of the controller are proven by computer simulations of contactless suspension.

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  • This work deals with the control design and development of an automated car-following strategy that further increases robustness to vehicle dynamics uncertainties. The control algorithm is applied on a hierarchical architecture where high and low level control layers are designed for gap-control and desired acceleration tracking, respectively. A fractional-order controller is proposed due to its flexible frequency shape, fulfilling more demanding design requirements.

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  • Bài báo nêu lên phương pháp điều khiển kết hượp bền vững ( trượt)_ thích nghi ( ARC_ Adaptive Robust Control) để áp dụng vào điều khiển các hệ có tham số chuyển động, thích hợp cho các hệ phi tuyến hay các hệ có tham số không xác định, với mục đích xây dụng luật điều khiển để hệ đạt được sai lệch nhỏ nhất. Trên cơ sở lấy cấu trúc tay máy hai bậc tự do làm mô hình minh chứng, bộ điều khiển sẽ cho phép đánh giá một số chỉ tiêu của quá trình điều...

    pdf4p doxuan 05-08-2009 572 192   Download

  • Trái ngược với phân tích trong miền tần số trong lý thuyết điều khiển cổ điển, lý thuyết điều khiển hiện đại sử dụng mô tả không gian trạng thái trong miền thời gian, một mô hình toán học của một hệ thống vật lý như là một cụm đầu vào, đầu ra và các biến trạng thái quan hệ với phương trình trạng thái bậc một.

    ppt95p hoanglong89hui 16-06-2010 399 174   Download

  • (bq) part 2 book "robotics and automation handbook" has contents: modeling and identification for robot motion control, robust and adaptive motion control of manipulators, modeling and identification for robot motion control, robot simulation, flexible robot arms,...and other contents.

    pdf304p bautroibinhyen20 06-03-2017 33 7   Download

  • IMPULSIVE NOISE 12.1 12.2 12.3 12.4 12.5 12.6 12.7 Impulsive Noise Statistical Models for Impulsive Noise Median Filters Impulsive Noise Removal Using Linear Prediction Models Robust Parameter Estimation Restoration of Archived Gramophone Records Summary I mpulsive noise consists of relatively short duration “on/off” noise pulses, caused by a variety of sources, such as switching noise, adverse channel environments in a communication system, dropouts or surface degradation of audio recordings, clicks from computer keyboards, etc.

    pdf23p khinhkha 30-07-2010 66 5   Download

  • (bq) part 2 book "crc press - robotics and automation handbook" has contents: modeling and identification for robot motion control, robust and adaptive motion control of manipulators, sliding mode control of robotic manipulators, impedance and interaction control, robot simulation,...and other contents.

    pdf304p bautroibinhyen19 24-02-2017 31 5   Download

  • This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies....

    pdf0p ktcn_1 17-07-2012 57 10   Download



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