Improved convergence of MRAC design for printing system

Ezzeldin, Mohamed; Bosch, P.P.J. van den; Waarsing, René

doi:10.1109/acc.2009.5160129

Cited by 9 publications

(3 citation statements)

References 12 publications

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“…Moreover, these methods require a considerable online computation time. A time varying nonlinear adaptation gain is proposed in [7]. This adaptation gain is chosen as a function of the tracking errors.…”

Section: Introductionmentioning

confidence: 99%

“…van the reference-model output. The design procedure involves the use of a wide class of adaptive laws that include leastsquares, gradient and SPR-Lyapunov design approaches [3]- [7]. The adaptation gain determines the convergence rate of the controller parameter and, therefore, has a considerable influence on the performance of the closed-loop system.…”

Section: Introductionmentioning

confidence: 99%

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Improving the performance of a printing system using Model Reference Adaptive Control: An LMI approach

Ezzeldin

Weiland

Bosch

2012

2012 American Control Conference (ACC)

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A novel Model Reference Adaptive Control (MRAC) scheme is proposed. The formulation involves recasting the error dynamics, which comprise of the tracking error and error of the controller parameters, into a Takagi-Sugeno model. Instead of using a single adaptation gain, multiple adaptation gains are employed. A sufficient condition is derived to ensure the asymptotic stability of the system for both state and output feedback cases. The adaptive control problem is formulated as a minimization of the L 2 gain. The optimal adaptation gains are obtained by solving a linear matrix inequality problem. A numerical example compares the proposed approach with the standard MRAC. Moreover, the proposed approach is applied to control a real printing system to improve the printing quality where large parameter variations, owing to different print jobs, and disturbances are presence. I. INTRODUCTIONColor document production systems are multifaceted systems that highly depend on the appropriate combination of several design factors to be functional in a desired working range. The physical printing process involves multiple temperature set points at different places, precise electromagnetic conditions, transfer of toner through certain pressures and layouts, and many other technical considerations. In the printing system there are several challenging problems. They comprise a lot of different sources, such as the printer itself (unknown phenomena appear, disturbances that are not foreseen, wear, contamination, failures, bugs), the environment of the system (power supply variations, temperature, humidity, vibrations), and the printing media (weight, coating, thermal properties, humidity characteristics). These issues have a negative effect on the stability and performance of the printing system. The objective is to design a control scheme to achieve a good printing quality and high productivity. Good printing quality means that the fusing temperature should track a certain reference signal at different operating conditions. Based on the printing system behavior, we propose a novel Model Reference Adaptive Controller (MRAC) scheme to cope with the large parameter variations and disturbances. An adaptive control modifies a control law used by a controller to cope with the time-varying or uncertain parameters of the system being controlled [1]- [2]. MRAC is one of the approaches to adaptive control. MRAC was first introduced by Whitacker in 1958. The basic structure of a MRAC scheme is shown in Fig. 1. MRAC attempts to reduce the tracking error e 1 = y p − y m between the plant output y p and the output of the reference model y m . A stable reference model is designed to achieve a desired performance. The closed-loop system consists of an ordinary feedback control law that contains the plant and a controller C(θ ) and an adjustment mechanism that optimally adjusts the controller parameters θ (t) on-line to force the controlled plant to follow

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Improving the performance of a printing system using Model Reference Adaptive Control: An LMI approach

Ezzeldin

Weiland

Bosch

2012

2012 American Control Conference (ACC)

Self Cite

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“…This process is very vital because it can be used to allow for changes in process gain (Ehsani, 2007;Astrom and Wittenmark, 1989). MRAC: Moussavi, Alasvandi, Javadi and Morad, (2014), described MRAC as an adaptive servo architecture in which the desired output or performance is defined in terms of a reference model, which provides desired response to the reference signal (Ezzeldin, van den Bosch and Waarsing, 2009). Generally speaking, MRAC is a unit of four parts namely; the plant to be controlled, containing unknown parameters, a reference model for constantly specifying the desired output of the control system in a compact way, a feedback control law made up of parameters that can be adjusted and the NN controller.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of a Tunable Proportional Integral Derivative (Tpid) Controller for a Robotic Arm

Joshua¹,

I.I²

2020

IJRES

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The main targets in designing control systems are stability, good disturbance rejection, and small tracking error. Several industrial robot manipulators are controlled by linear methodologies such as Proportional-Derivative (PD) controller, Proportional-Integral (PI) controller or Proportional-Integral-Derivative (PID) controllers. In this work, a Tunable Proportional Integral Derivative (TPID) controller is proposed for the control of a robotic arm. This tuning method is an attempt to obviate the shortcomings of the conventional PID controller where the proportional gain KP, integral gain KI and derivative gain KD, are fixed. The proposed controller provides opportunity for tuning the PID to be able to control the nonlinear movements and operations of a robot. The robot arm manipulator can be tuned as desired to provide control measures to enhance stability and suppress vibrations arising from robot arm operation. Simulation results showed an improvement over conventional PID controller for robotic arm manipulator.

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