Unfalsified Virtual Reference Adaptive Switching Control of Plants with Persistent Disturbances

BUMPLESS TRANSFER AND FADING MEMORY FOR ADAPTIVE SWITCHING CONTROL by Shin-Young Cheong A Dissertation Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY

This dissertation mainly focuses on implementation techniques for adaptive switching control. Adaptive switching control can generate bad transients in controller output. These bad transients can be reduced by various bumpless transfer techniques. A new bumpless transfer technique is developed based on slow-fast controller decomposition. This technique is especially well-suited to situations in...

Multi-model unfalsified adaptive switching control: Test functionals for stability and performance

Analysis of Speed Control in DC Motor Drive Based on Model Reference Adaptive Control

This paper presents fuzzy and conventional performance of model reference adaptive control(MRAC) to control a DC drive. The aims of this work are achieving better match of motor speed with reference speed, decrease of noises under load changes and disturbances, and increase of system stability. The operation of nonadaptive control and the model reference of fuzzy and conventional adaptive contr...

Unfalsified Direct Adaptive Control of a Two-Link Robot Arm∗

This paper describes an application of unfalsified control theory to the design of a switching adaptive controller for a nonlinear robot manipulator. In the unfalsified control approach, candidate controllers are eliminated and discarded when their ability to meet performance goals is falsified by evolving experimental data. Switching occurs when the currently active control law is among those ...

Model Reference Adaptive Control using Multiple Controllers & Switching

In this paper, we develop an adaptive multi controller system to solve the MRAC problem using unfalsified control theory. Switching is done among the candidate controllers based on some suitably defined performance index, which is obtained without actually inserting the candidate controllers in the feedback loop. Though prior knowledge about the nominal plant structure or its parameters is usef...