Adaptive control of continuous time systems with convex/concave parametrization

Annaswamy, Anuradha M.; Skantze, Fredrik P.; Loh, Ai Poh

doi:10.1016/s0005-1098(97)00159-3

Cited by 205 publications

(163 citation statements)

References 11 publications

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“…In this work, a novel adaptive time delay identification technique was presented. Time delays were considered as nonlinear parameters and the nonlinear parameter estimation method [22] was utilized as the time delay identification algorithm for the first time in the literature. Numerical simulation results were conducted to demonstrate the efficiency of the estimator for constant time delays and its robustness to noise.…”

Section: Numerical Simulation Resultsmentioning

confidence: 99%

“…The vertices of the simplex Ω s may be obtained by first inscribing Ω in a ndimensional sphere and then inscribing this sphere inside a (n + 1)-dimensional polyhedron [22].…”

Section: Delay Estimationmentioning

confidence: 99%

“…Remark 4: The tuning errorq f ε (t) and the saturation function sat(r) assure that the estimator is continuous even if a discontinuous solution of the min-max algorithm is obtained [22].…”

Section: Delay Estimationmentioning

confidence: 99%

“…Since time delay is treated as a nonlinear parameter, it is not possible to use a standard adaptive estimator or a gradient based estimator. To overcome this, inspired by [22], a nonlinear parameter identification technique is adopted as a time delay identification method. According to the authors' best knowledge, nonlinear parameter identification techniques are, for the first time in the literature, considered as a time delay identification method.…”

Section: Introductionmentioning

confidence: 99%

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A novel online adaptive time delay identification technique

Bayrak

Tatlıcıoğlu

2011

IEEE Conference on Decision and Control and European Control Conference

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Abstract-In this study, an online time delay identification technique is proposed. Different from the relevant literature, the time delay is considered as a nonlinear parameter and nonlinear parameter estimation techniques are adopted. The stability of the adaptive update law can be guaranteed via Lyapunov based arguments and numerical simulations are conducted to demonstrate the proof of concept.

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Section: Numerical Simulation Resultsmentioning

confidence: 99%

“…The vertices of the simplex Ω s may be obtained by first inscribing Ω in a ndimensional sphere and then inscribing this sphere inside a (n + 1)-dimensional polyhedron [22].…”

Section: Delay Estimationmentioning

confidence: 99%

“…Remark 4: The tuning errorq f ε (t) and the saturation function sat(r) assure that the estimator is continuous even if a discontinuous solution of the min-max algorithm is obtained [22].…”

Section: Delay Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A novel online adaptive time delay identification technique

Bayrak

Tatlıcıoğlu

2011

IEEE Conference on Decision and Control and European Control Conference

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“…If the model used is too simple, such as the simple Coulomb friction and viscous friction model, then there is the possibility of overcompensation resulting from estimation inaccuracies [12]. Adaptive friction compensation schemes have been proposed to compensate for nonlinear friction in a variety of mechanisms [1,12], but these are usually based on the linearized model or a model which is linear-in-the-parameters for the problems under study. Each model captures only the dominate friction phenomena of the system and may exhibit discrepancies when used for other systems where other friction phenomena appear.…”

Section: Introductionmentioning

confidence: 99%

Adaptive friction compensation of servo mechanisms

Lee

Ren

2001

Int. J. Sys. Sci.

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Friction exists in all machines having relative motion, and plays an important role in many servo mechanisms and simple pneumatic or hydraulic systems. In order to achieve high precision motion control, accurate friction modeling and effective compensation techniques have to be investigated. In this chapter, we shall present a systematic treatment of adaptive friction compensation techniques from both engineering and theoretical aspects. Firstly, a comprehensive list of the commonly used classical friction models and dynamic friction models is presented for comparison and controller design. Then, by considering the position and velocity tracking control of a servo mechanism with friction, adaptive friction compensation schemes are given based on the LIP static friction model and dynamic LuGre model respectively. Finally, extensive simulation comparison studies are presented to verify the effectiveness of the proposed methods.

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Adaptive output feedback regulation with almost disturbance decoupling for nonlinearly parameterized systems

Marino

Tomei

2000

Int. J. Robust Nonlinear Control

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In this paper we design output feedback control algorithms for uncertain systems with output depending nonlinearities: the uncertainties (disturbances or time‐varying parameters) are modelled as a bounded time‐varying vector which is allowed to enter nonlinearly in the state equations. We first design an almost disturbance decoupling control which contains a positive scalar parameter so that both the L2‐ and the L∞‐induced norms between the disturbance vector and the tracking vector may be arbitrarily improved. We then incorporate an adaptive part in the controller so that, in addition, the tracking error asymptotically vanishes when both reference signals and disturbances become constant. Copyright © 2000 John Wiley & Sons, Ltd.

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Adaptive control of continuous time systems with convex/concave parametrization

Cited by 205 publications

References 11 publications

A novel online adaptive time delay identification technique

A novel online adaptive time delay identification technique

Adaptive friction compensation of servo mechanisms

Adaptive output feedback regulation with almost disturbance decoupling for nonlinearly parameterized systems

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