A5061957514- Adaptive Control of Nonlinear Systems
- Advanced Control Systems Optimization
- Iterative Learning Control Systems
- Stability and Control of Uncertain Systems
- Underwater Vehicles and Communication Systems
- Adaptive Dynamic Programming Control
- Soft Robotics and Applications
- Control Systems and Identification
- Control and Dynamics of Mobile Robots
- Teleoperation and Haptic Systems
- Advanced Vision and Imaging
- Advanced Control Systems Design
- Robotics and Sensor-Based Localization
- Robotic Mechanisms and Dynamics
- Fault Detection and Control Systems
- Robot Manipulation and Learning
- Advanced Adaptive Filtering Techniques
- Hydraulic and Pneumatic Systems
- Control and Stability of Dynamical Systems
- Robotic Locomotion and Control
- Advanced Manufacturing and Logistics Optimization
- Target Tracking and Data Fusion in Sensor Networks
- Tissue Engineering and Regenerative Medicine
- Image Processing Techniques and Applications
- Belt Conveyor Systems Engineering
Universidade Federal do Rio de Janeiro
2015-2024
Andalas University
2019
Kogakuin University
2016
University of California, Santa Barbara
2003
Abstract A variable structure model reference adaptive controller (VS-MRAC) using only the input and output measurements of plant is proposed. Stability transient properties are analysed discussed. Remarkable behaviour revealed, in particular, following can be perfectly achieved a finite time. The effect disturbance investigated performance VS also shown to qualitatively superior that obtained with (conventional) integral adaptation algorithms. link between VS-MRAC conventional MRAC...
This paper presents an overview of a technique for the design variable structure model reference adaptive control (VS-MRAC) systems, using only input-output data. The main ideas underlying and analysis, as well properties controller, are described having point departure known parameter MRAC scheme. Then, asymptotic VS-MRAC system established taking into account effect averaging filters necessary to implement some equivalent signals. In particular, global exponential stability associated...
This note considers the robust output tracking problem using a model-reference sliding mode controller for linear multivariable systems of relative degree one. It is shown that closed loop system globally exponentially stable and performance insensitive to bounded input disturbances parameter uncertainties. The strategy based on output-feedback unit vector control generate mode. only required priori information about plant high frequency gain matrix K/sub p/ knowledge S/sub such -K/sub...
Recently, the introduction of a kind forgetting factor, called σ-modification, in adaptation law for continuous-time systems was proposed to improve adaptive system robustness. However, this paper shows that, similarly diserete-time case, bursting phenomena may occur solely due factor.
In this note, we extend the application of a less restrictive condition about high-frequency gain matrix to design stable direct model reference adaptive control for class multivariable plants with relative degree greater than one. The new approach is based on parametrization derived from factorization K/sub p/ in form product three matrices, one them being diagonal. Three possible factorizations are presented. Only signs diagonal factor or, equivalently, leading principal minors p/, assumed known.
The Amazon rainforest stands at the forefront of socio-ecohydrological challenges, with ever-growing extreme events such as droughts and floods disrupting ecosystems local communities. Addressing these issues requires co-creative transdisciplinary approaches that blend scientific knowledge lived experiences expertise diverse stakeholders. Here, we present three distinct co-creation initiatives in Amazon, each a different stage development, to illustrate transformative potential, complexities...
The focus of this paper is on the synthesis first-order filters which generate approximations for upper bounds some signals needed in sliding mode control laws. approximation based optimization methods are applied to reduce amplitude signal. This also considers application these output-feedback controllers linear systems regular form with uncertain parameters and order. An experimental setup where model-reference an electromechanical system presented illustrate design method.
ABSTRACT This paper proposes an output‐feedback sliding mode control design for a class of uncertain multivariable plants with nonlinear disturbances. The approach used here is based on the parameterization employed in model‐reference adaptive control. disturbances are allowed to be unmatched and depend not only plant output but also its unmeas‐urable state. A less restrictive condition uncertainty high frequency gain matrix obtained.
An adaptive control scheme for dynamic positioning (DP) of remotely operated underwater vehicles (ROV) is proposed based on a recently developed output feedback variable structure (VSC) algorithm named VS-MRAC. Only position measurement required. Precise modeling the ROV not needed and unmodeled perturbations can be effectively rejected. A simple method discretizing original continuous-time VS-MRAC dead-beat response. Other important practical implementation issues are considered. The...
This note presents a Lyapunov-based design of model-reference adaptive control (MRAC) for multiple-input-multiple-output (MIMO) systems uniform relative degree two. It consists an extension well known MRAC scheme single-input-single-output (SISO) plants with one or The case one, was completely extended to the MIMO only recently. corresponding two remained hitherto unpublished. While schemes exist which can deal arbitrary degree, presented here has significant advantage possessing explicit...
The paper describes an automatic dynamic positioning system for remotely operated underwater vehicles (ROVs) using a mechanical passive arm position measurement that is suitable inspection and intervention tasks requiring precise positioning. Good performance in tracking was also attained, particularly with the variable structure model reference adaptive control strategy.
This study presents an output‐feedback control algorithm based on unit vector sliding mode for a class of multivariable systems. The objective is to force each output signal track desired reference trajectory, while retaining good performance despite parameter uncertainties, unmatched disturbances and actuators faults that eventually may occur in the plant. Owing new approach proposed tackle this problem, which involves linear matrix inequality be satisfied by distribution matrix, no upper...
Abstract A novel output‐feedback sliding mode control strategy is proposed for a class of single‐input single‐output (SISO) uncertain time‐varying nonlinear systems which norm state estimator can be implemented. Such encompasses minimum‐phase with nonlinearities affinely bounded by unmeasured states growth rate depending nonlinearly on the measured system output and internal related zero‐dynamics. The surface generated using high gain observer (HGO) whereas peaking free amplitude obtained...
A MIMO (multiple-input, multiple-output) analog to the well-known Lyapunov-based SISO (single-input, single-output) design of MRAC (model-reference adaptive control) has been recently introduced by L. Hsu et al. (2001). The new utilizes a control parametrization derived from factorization high-frequency gain matrix K/sub p/=SDU, where S is symmetric positive-definite, D diagonal and U unity upper-triangular. Only signs entries or, equivalently, leading principal minors p/, were assumed be...
The design of model-reference adaptive control (MRAC) for MIMO linear systems has not yet been achieved, in spite significant efforts, the completeness and simplicity its SISO counterpart. One main obstacles generalization assumption that sign high-frequency gain is known. Here we overcome this obstacle present a analog to well known Lyapunov-based MRAC design. Our algorithm makes use new parametrization derived from factorization matrix K/sub p/=SDU, where S symmetric positive definite, D...
This paper addresses the problem of designing model-reference adaptive control for linear MIMO systems with unknown high-frequency gain matrix (HFGM). The concept hierarchy is introduced leading to a new parametrization and an error equation triangular HFGM, which allows sequential design adaptation scheme. Significant reduction prior knowledge about HFGM achieved, overcoming limitations known methods. A complete stability convergence analysis developed based on class signals their...