Adaptive decouplers for multivariable systems: input dynamics compensation and output feedback approaches

Multivariable adaptive control: A survey

“…Thus adaptive decoupling control studies how to design adaptive compensators which can achieve asymptotic decoupling of a MIMO control system, in addition to some control system performance such as stability and tracking. There have been various results of adaptive decoupling control, for continuoustime and discrete-time systems, for minimum and non-minimum phase systems, for linear and nonlinear systems; see, for example, Arvanitis (1998), Chai (1990), Hersh (1992), Kinnaert, Hanus, and Henrotte (1987), Mutoh and Ortega (1993), Peng (1990), Sun and Ming (2000), Teng and Ledwich (1992), Wahba and Sheirah (1993), Wittenmark, Middleton, and Goodwin (1987), and Yu and Chai (1995).…”

Adaptive control scheme for a robot manipulator: direct decoupler and PID controller

“…In this section, we present a computationally efficient adaptive decoupler to overcome the interaction effects. Refer to Singh and Narendra (1984), Wittenmark et al (1987) and Teng and Ledwich (1992) for further details on multi variable decouplers and controllers.…”

“…The implementation of (a) and (b) is more computationally intensive (Teng and Ledwich 1992) because it is required to solve the non-homogeneous equations. For the robot modelled by the first-order plant, it is possible to derive a direct decoupler that is attractive to implement.…”

“…The decoupler proposed by Wittenmark et al (1987) is difficult to implement because it is computationally intensive and lacking in freedom in design. To overcome the problems, versatile and computationally efficient algorithms of the two level adaptive controllers have been proposed by Teng and Ledwich (1992). This paper extends the work of Teng and Ledwich (1992) by deriving a direct decoupler, in the sense that the controller design is trivial, and implementing it to decouple the joints where there are strong couplings in a revolute robot.…”

“…To overcome the problems, versatile and computationally efficient algorithms of the two level adaptive controllers have been proposed by Teng and Ledwich (1992). This paper extends the work of Teng and Ledwich (1992) by deriving a direct decoupler, in the sense that the controller design is trivial, and implementing it to decouple the joints where there are strong couplings in a revolute robot. We show that design parameters included in the decoupler are gain constants, whose values can be adjusted to change the system bandwidth.…”