Adaptive regulation via weighted robust estimation and automatic controller tuning
نویسندگان
چکیده
LEVEL 1 Frequency GA DA MA N2T N2R MV TD (Hz) (dB) (dB) (dB@Hz) (×10−3) (×10−3) (×10−3) (ratio) 50 33.6 41.0 [email protected] 22.1 4.0 19.3 1.04 55 33.2 37.7 [email protected] 21.8 4.2 21.6 1.04 60 32.9 35.8 [email protected] 20.6 4.4 21.2 1.03 65 33.1 34.7 [email protected] 17.2 4.4 18.3 1.02 70 33.3 34.1 [email protected] 12.4 4.3 19.1 1.02 75 33.8 33.6 [email protected] 10.9 4.2 20.0 1.02 80 34.0 33.1 [email protected] 14.4 4.0 21.5 1.04 85 33.8 32.5 [email protected] 21.7 4.0 23.7 1.05 90 31.7 30.9 [email protected] 25.1 4.2 27.5 1.03 95 23.1 25.2 [email protected] 19.5 5.0 32.0 1.01 LEVEL 2 Frequency GA DA MA N2T N2R MV TD (Hz) (dB) (dB)-(dB) (dB@Hz) (×10−3) (×10−3) (×10−3) (ratio) 50-70 38.5 39.2 33.1 [email protected] 37.5 4.6 26.4 1.00 55-75 38.4 36.8 32.7 [email protected] 37.8 4.7 31.3 1.00 60-80 38.3 34.5 32.1 [email protected] 40.1 4.7 35.4 1.03 65-85 37.8 33.6 31.3 [email protected] 60.5 5.0 38.1 1.02 70-90 37.1 33.5 30.1 [email protected] 45.8 5.0 40.2 1.00 75-95 33.2 32.7 23.9 [email protected] 38.4 5.9 44.3 0.99 LEVEL 3 Frequency GA DA MA N2T N2R MV TD (Hz) (dB) (dB)-(dB)-(dB) (dB@Hz) (×10−3) (×10−3) (×10−3) (ratio) 50-65-80 36.1 26.4 22.5 27.2 [email protected] 79.1 9.1 46.3 1.04 55-70-85 36.9 29.9 25.2 28.9 [email protected] 93.8 8.3 51.9 0.97 60-75-90 33.8 26.9 22.0 25.1 [email protected] 95.9 11.2 55.6 0.98 65-80-95 29.1 21.8 20.2 14.9 [email protected] 97.0 16.1 58.6 0.98
منابع مشابه
Hybrid Adaptive Neural Network AUV controller design with Sliding Mode Robust Term
This work addresses an autonomous underwater vehicle (AUV) for applying nonlinear control which is capable of disturbance rejection via intelligent estimation of uncertainties. Adaptive radial basis function neural network (RBF NN) controller is proposed to approximate unknown nonlinear dynamics. The problem of designing an adaptive RBF NN controller was augmented with sliding mode robust term ...
متن کاملVehicle Stabilization via a Self-Tuning Optimal Controller
Nowadays, using advanced vehicle control and safety systems in vehicles is growing rapidly. In this regard, in recent years new control systems, called VDC, have been introduced. These systems stabilize vehicle yaw motion, by yaw moment resulted from tire controlling forces. In this paper, an adaptive optimal controller applied to a vehicle to obtain a satisfactory lateral and yaw stability. To...
متن کاملRobust Estimation for Automatic Controller Tuning with Application to Active Noise Control
In this work, we show how the double-Youla parameterization can be used to recast the robust tuning of a feedback controller as a robust estimation problem. The formulation as an estimation problem allows tuning of the controller in realtime on the basis of closed loop data. Furthermore, robust estimation is obtained by constraining the parameter estimates so that feedback stability will be mai...
متن کاملRobust Estimation and Automatic Controller Tuning in Vibration Control of Time Varying Harmonic Disturbances
This paper presents theoretical and experimental results of a newly developed automatic controller tuning algorithm called Robust Estimation for Automatic Controller Tuning (REACT) to tune a linear feedback controller to the unknown spectrum of disturbances present in a feedback loop. With model uncertainty and controller perturbations described in (dual) Youla parametrizations, the REACT algor...
متن کاملSaturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators:An Experimental Comparative Study
In this study, an observer-based tracking controller is proposed and evaluatedexperimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturationin the presence of model uncertainties and external disturbances. In comparison with the state-of-the-artobserver-based controllers in the literature, this paper introduces a saturated observer-based controllerbas...
متن کاملAdaptive Simplified Model Predictive Control with Tuning Considerations
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...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Eur. J. Control
دوره 19 شماره
صفحات -
تاریخ انتشار 2013