• Title, Summary, Keyword: Simple adaptive control

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Simple adaptive control of seismically excited structures with MR dampers

  • Amini, F.;Javanbakht, M.
    • Structural Engineering and Mechanics
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    • v.52 no.2
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    • pp.275-290
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    • 2014
  • In this paper, Simple Adaptive Control (SAC) method is used to mitigate the detrimental effects of earthquakes on MR-damper equipped structures. Acceleration Feedback (AF) is utilized since measuring the acceleration response of structures is known to be reliable and inexpensive. The SAC is simple, fast and as an adaptive control scheme, is immune against the effects of plant and environmental uncertainties. In the present study, in order to translate the desired control force into an applicable MR damper command voltage, a neural network inverse model is trained, validated and used through the simulations. The effectiveness of the proposed AF-based SAC control system is compared with optimal H2/LQG controllers through numerical investigation of a three-story model building. The results indicate that the SAC controller is substantially effective and reliable in both undamaged and damaged structural states, specifically in reducing acceleration responses of seismically excited buildings.

Position Control of an Electro Hydraulic Actuator Using Adaptive Control Method (적응제어 기법을 이용한 전기-유압 액츄에이터의 위치제어)

  • Cho, S.H.
    • Transactions of The Korea Fluid Power Systems Society
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    • v.7 no.3
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    • pp.1-6
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    • 2010
  • This paper deals with the issue of simple adaptive position control for a pump-controlled cylinder system. A fixed displacement pump is utilized instead of servo valve and its speed is controlled by AC motor. The whole control system is composed of a pair of interconnected subsystems, that is, a feedback control system and a feedforward control system. From experiments it is shown that position control using simple adaptive control can accomplish significant reduction in position tracking error comparing to a conventional PID control.

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A Study on Simple Adaptive Control of Flexible-Joint Robots Considering Motor Dynamics (모터 동역학식을 고려한 유연 연결 로봇의 간단한 적응 제어에 관한 연구)

  • Yoo, Sung-Jin;Choi, Yoon-Ho;Park, Jin-Bae
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.11
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    • pp.1103-1109
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    • 2008
  • Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.

An Adaptive Fuzzy Based Control applied to a Permanent Magnet Synchronous Motor under Parameter and Load Variations (ICCAS 2004)

  • Kwon, Chung-Jin;Kim, Sung-Joong;Won, Kyoung-Min
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1168-1172
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    • 2004
  • This paper presents a speed controller based on an adaptive fuzzy algorithm for high performance permanent magnet synchronous motor (PMSM) drives under parameter and load variations. In many speed tracking control systems PI controller has been used due to its simple structure and easy of design. PI controller, however, suffers from the electrical machine parameter variations and disturbances. In order to improve the tracking control performance under load variations, the PI controller parameters are modified during operation by adaptive fuzzy method. This method based on optimal fuzzy logic system has simple structure and computational simplicity. It needs only sample data which is obtained by optimal controller off-line. As the sample data implemented in the adaptive fuzzy system can be modified or extended, a flexible control system can be obtained. Simulation results show the usefulness of the proposed controller.

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Adaptive MR damper cable control system based on piezoelectric power harvesting

  • Guan, Xinchun;Huang, Yonghu;Li, Hui;Ou, Jinping
    • Smart Structures and Systems
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    • v.10 no.1
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    • pp.33-46
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    • 2012
  • To reduce the vibration of cable-stayed bridges, conventional magnetorheological (MR) damper control system (CMRDS), with separate power supply, sensors and controllers, is widely investigated. In this paper, to improve the reliability and performance of the control system, one adaptive MR damper control system (AMRDS) consisting of MR damper and piezoelectric energy harvester (PEH) is proposed. According to piezoelectric effect, PEH can produce energy for powering MR damper. The energy is proportional to the product of the cable displacement and velocity. Due to the damping force changing with the energy, the new system can be adjustable to reduce the cable vibration. Compared with CMRDS, the new system is structurally simplified, replacing external sensor, power supply and controller with PEH. In the paper, taking the N26 cable of Shandong Binzhou Yellow River Bridge as example, the design method for the whole AMRDS is given, and simple formulas for PEH are derived. To verify the effectiveness of the proposed adaptive control system, the performance is compared with active control case and simple Bang-Bang semi-active control case. It is shown that AMRDS is better than simple Bang-Bang semi-active control case, and still needed to be improved in comparison with active control case.

Simple Adaptive Position Control of a Hydraulic Cylinder-load System Driven by a Proportional Directional Control Valve (비례 방향제어 밸브에 의하여 구동되는 유압실린더-부하계의 단순 적응 위치제어)

  • Cho, Seung-Ho;Lee, Min-Woo
    • Journal of the Korean Society for Precision Engineering
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    • v.28 no.8
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    • pp.936-941
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    • 2011
  • This paper deals with the issue of motion control of a single rod cylinder-load system using simple adaptive control (SAC) method. Prior to controller design, the experiment of open-loop response has been performed. Based on it, design parameters of transfer function are obtained and used for controller design. The effect of parallel feedforward compensator has been investigated by computer simulation, suppressing the oscillatory motion. Through experiments it is conformed that the SAC method gives good tracking performance compared to the PD control method.

Analysis of a shimming aircraft NLG controlled by the modified simple adaptive control

  • Alaimo, Andrea;Orlando, Calogero
    • Advances in aircraft and spacecraft science
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    • v.7 no.5
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    • pp.459-473
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    • 2020
  • The aircraft nose landing gear (NLG) can suffer of an unstable vibration called shimmy that is responsible of discomfort and of fatigue stress on the gear strut components. An adaptive controller is proposed in this paper to cope with the aforementioned problem. It is based on a method called Modified Simple Adaptive control (MSAC) which is able of governing the NLG motion by using a feedback signal that relies on just one output of the plant. The MSAC only asks for the passivity of the controlled plant. With this aim, a parallel feedforward compensator is employed in this work to let the system satisfies the almost strictly passivity (ASP) requirements. The nonlinear equations that govern the aircraft NLG shimmy vibration behavior are used to analyzed the controlled system transient response undergoing an initial disturbance and taking into account different taxiing speed values.

Fuzzy Rules Optimizing by Neural Network-based Adaptive Fuzzy Control

  • K, K.-Wong;Akio, Katuki
    • 제어로봇시스템학회:학술대회논문집
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    • pp.96.2-96
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    • 2001
  • This paper presents a control method for the experimental mobile vehicle. By merging the advantages of neural network, adaptive and fuzzy control, neural network-based adaptive fuzzy control is proposed. It can deal with a large amount of training data by neural network, from these data producing more accurate fuzzy rules by adaptive control, and then controlling the object by fuzzy control. This is not the simple combination of the three methods, but merging them into one control system Experiments and some future considerations are given.

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On the Design of Simple-structured Adaptive Fuzzy Logic Controllers

  • Park, Byung-Jae;Kwak, Seong-Woo
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.3 no.1
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    • pp.93-99
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    • 2003
  • One of the methods to simplify the design process for a fuzzy logic controller (FLC) is to reduce the number of variables representing the rule antecedent. This in turn decreases the number of control rules, membership functions, and scaling factors. For this purpose, we designed a single-input FLC that uses a sole fuzzy input variable. However, it is still deficient in the capability of adapting some varying operating conditions although it provides a simple method for the design of FLC's. We here design two simple-structured adaptive fuzzy logic controllers (SAFLC's) using the concept of the single-input FLC. Linguistic fuzzy control rules are directly incorporated into the controller by a fuzzy basis function. Thus some parameters of the membership functions characterizing the linguistic terms of the fuzzy control rules can be adjusted by an adaptive law. In our controllers, center values of fuzzy sets are directly adjusted by an adaptive law. Two SAFLC's are designed. One of them uses a Hurwitz error dynamics and the other a switching function of the sliding mode control (SMC). We also prove that 1) their closed-loop systems are globally stable in the sense that all signals involved are bounded and 2) their tracking errors converge to zero asymptotically. We perform computer simulations using a nonlinear plant.

Design of a Real Time Adaptive Controller for SCARA Robot Using Digitl Signal Process (디지탈 신호처리기를 사용한 스카라 로보트의 실시간 적응제어기 설계)

  • 김용태;서운학;한성현;이만형;김성권
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.472-477
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    • 1996
  • This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

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