VSS robust adaptive control including a selftuning controller for a
VSS Robust Adaptive Control Including a Self-Tuning Controller for a Rotary. Inverted ... for a rotary inverted pendulum all of whose parameters are unknown.
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Adaptive control of rotary inverted pendulum system with - Springer
Nov 6, 2013 ... Hirata, H., Takabe, T., Anabuki, M., Ouchi, S.: Vss robust adaptive control including a self-tuning controller for a ro- tary inverted pendulum.
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Neural Network Based Robust Adaptive Control - Centro E. Piaggio
Index Terms—Variable Stiffness Actuator, Robust Adaptive ... Accuracy in positioning and stiffness tuning should ... and controllers for joint actuators of safe and performant ... Uncertainties including .... DC motors and link rotary inertias, respectively, β1,β2, .... that proves the function Vs(t) decreases with time to a con- .
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Development of a self-tuning fuzzy logic controller for a rotary dryer
FLC by making the responses more robust to the input disturbances of the process, mainly to the input ... Keywords: rotary dryer, self-tuning of fuzzy controllers, process control. ... A FLC is called adaptive if any of its tuneable parameters .... control rule set including two inputs (error and change of error) and one output. The.
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EECE 574 - Adaptive Control - Overview - The Phone Oximeter
Wellstead and Zarrop, Self-Tuning Systems Control and Signal Processing, J. Wiley and Sons ... A non-adaptive controller is based solely on a-priori information.
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Enhancing Flight Control System Performance Using SDRE Based
that dramatically complicates rotary-wing aircraft operations. ... adaptive controller solution using the State Dependent Riccati Equation (SDRE) ... The operational envelope depends on multiple factors including ship ... Theta-D technique vs. ... adaptive control design paradigms (i.e., direct/MRAC, indirect/ self-tuning.
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Adaptive Control Design for Underactuated Systems using Sums-of
, to design adaptive controllers with verified robustness to parameter ... Instead, for under- actuated systems, one is often restricted to self-tuning ap-.
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Modelling, Design and Robust Control of a Remotely - InTech
skid, wire and cable cutter, and rotary disk cutter, .... is an implicit linear quadratic online self-tuning controller and the other one uses a robust control law ... problems include the model-based approach. .... sliding mode controller and the adaptive fuzzy sliding. 3 ..... using the thruster response curves (Control Voltage vs.
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Indirect fractional order pole assignment based adaptive control
In this paper, we propose an indirect adaptive controller by fractional order pole placement. The proposed control strategy is based on the self-tuning control structure and ... IMC-based adaptive control  and robust fractional order adaptive control  and ...... Quadratic error criteria VS DC Motor fractional control order.
[ 1-s2.0-S2215098615001494-main.pdf?_tid=26d94d8a-7ce2-11e5-b5ad-00000aab0f01&acdnat=1445974826_6ca3c8e4737abb32ba48cb82e5d9d61f - Read/Download File
Control engineering in drying technology: Review and - HAL-Inria
Jan 5, 2009 ... drying are given, including the financial benefits. ... For a rotary dryer, a PI controller was used to control the outlet mean product ... In terms of control engineering, tuning of both design variables and ... Off-line control (open loop) vs . on-line control (closed loop) ..... Self-tuning Control of Egg Drying in.
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Chapter 2 Background
semiactive suspension systems, and adaptive control concepts. ... There are, however, many drawbacks to ER fluids, including relatively small ... In the case of MR dampers, the ideal force vs. velocity characteristics are as shown ..... reference adaptive control, self-tuning regulators, adaptive pole placement, robust adaptive.
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Concepts, Methods and Techniques in Adaptive Control - Institute of
in steel rolling mills, paper machines or rotary kilns, the dynamics ... anteed robust performance properties appear to a de- signer as the ... trol approaches like: model reference adaptive control, self/auto ... architecture of an indirect self- tuning controller where ..... Indirect vs. direct adaptive control ..... The states, including.
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Block-Oriented Nonlinear Control of Pneumatic Actuator - DiVA
May 1, 2001 ... robust, nonlinear, servo, force control, modelling, dynamic friction, ... Force based auto-tuning motion control of a pneu- .... Adaptive control . ..... These efforts include ... of a rotary pneumatic servo system where a double-acting rotary .... Tseng (1994) a PID self-tuning controller was designed by using the ...
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Decentralized Robust Control of Robot Manipulators with Harmonic
In this paper, we propose a decentralized robust control algorithm for ... The majority of the associated research is geared towards self-reconfigurable ... the robot mechanical design, i.e. rotary joint robot and Cartesian manipulator, but .... decentralized controller is designed based on single joint dynamics including friction,.
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Propulsion Controls at NASA Lewis
High Speed. (LaRC). Rotary Wing ... Robust Propulsion Control – VSST. • Run- time ... Self-Diagnostic Adaptive Engine Control System. • Performs ... ( conventional vs. optimal model tuning parameters). Background: ... Thrust controller and Stall Margin limit protection ... Tests include “nominal” and “faulted” engine operating ...
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Artificial Robust Control of Robot Arm: Design a Novel - SERSC
Dec 4, 2011 ... Backstepping Adaptive Lyapunov Based Variable Structure Control ... The fuzzy backstepping methodology is on-line tune the ... and prismatic that revolute joint has rotary motion around an axis and ... methodologies to design nonlinear robust controller. ...... His current research interests including artificial.
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Methodology of Robust Linear On-line High Speed Tuning - SERSC
Sep 3, 2012 ... Linear error-based tuning sliding mode controller is stable ... Adaptive control methodology can be classified ... can be revolute and prismatic that revolute joint has rotary motion ... They found that self-organizing fuzzy logic controller .....  J. Moura and N. Olgac, "A comparative study on simulations vs.
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Novel Robot Manipulator Adaptive Artificial Control - CSC Journals
fuzzy logic controller and self tuning fuzzy sliding method, the output has improved. ... this research is analyses and design of the adaptive robust controller based ... and prismatic that revolute joint has rotary motion around an axis and ... This control include simple PD control, PID control, inverse dynamic control, Lyapunov-.
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An Online Observer for Minimization of Pulsating Torque in - Plos
Apr 18, 2016 ... values of the input signal, to show robustness of the proposed method. ... or by actively controlling the motor using i.e. a self-tuning controller. The ... sensitive to initial conditions of the rotary motion. For this approach, an adaptive filter based .... which work great in specific cases include direct torque control.
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Lyapunov's Stability Theory-Based Model Reference Adaptive
Lyapunov's Stability Theory-Based Model Reference Adaptive Control ... propose a model reference adaptive controller. ... MRAS is robust to the parameter variation ... equivalent synchronous rotary ..... (V.s). 0.35. Pole pitch τ (m). 0.031. Number of pole pair(s) P. 1. Mass of the .... sliding-mode decoupling and self- tuning.
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