Recently, the simple adaptive control (SAC) method has attracted considerable interest because of the simple structure of its adaptive controller. The method can only be applied to plants with so-called almost strictly positive real (ASPR) characteristics. Unfortunately, most real plants do not satisfy this condition. Furthermore, real plants contain disturbances such as uncertain elements. This paper deals with such problems and proves that the implementation of a parallel feedforward compensator makes it possible to apply the SAC method to non-ASPR SISO plants with plant uncertainties. Furthermore, a robust SAC algorithm in the presence of a class of external disturbances is also considered. The effectiveness of the parallel feedforward compensator and robust adaptive controller designed in this way is examined through several numerical simulations.KEY WORDS Robust adaptive control Simple adaptive control Parallel feedforward compensator Positive realness
The trial production of a new concept vertical take-off and landing (VTOL) aircraft based on variable pitch wing attached multicopter was carried out for aerial, observation and research. Continuous transition from multicopter to similar to fixed-wing aircraft can be done with adjusting suitable angle of attack of the wing of multicopter. The proposed rotorcraft can obtain the lift of wing during horizontal flight, and its causes the reduction of power consumption and extend the flight area. The demonstration experimental rotorcrafts with variable pitch wing multicopter based on the Y3 tricopter and Y6 hexacopter are also presented.
Recently, discrete-time Simple Adaptive Control (SAC) methods have been proposed. Unfortunately, there necessarily exists an offset between a plant output and a reference model output, because a PFC (Parallel Feedforward Compensator) is added to the plant in order to assure an almost strict positive realness of the augmented plant that is considered to be a new controlled plant. The above-mentioned offset can be easily reduced by reduction of PFC gain. However, in this case, a design procedure of PFC becomes more complicated. Here, we propose a design method for the discrete-time SAC system, which can remove the above-stated offset, by using parallel feedforward compensators for both of the plant and the reference model.
Population of elderly people has been increasing not only in Japan but also in many countries. For the purpose of expanding the active field of them and persons with disabilities, and of improving their quality of life (QOL), the development of an intelligent wheelchair has been intensively studied. In this research, a new maneuver interface of the electric wheelchair instead of the joy-stick is considered. To develop such an interface, this paper deals with a simple non-contact detection method of horizontal head gesture motion using a depth sensor.
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