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Tytuł:
The Application of an Adaptive Controller Combined with the LQR Controller for the Inverted Pendulum
Zastosowanie regulatora adaptacyjnego w połączeniu z regulatorem LQR dla wahadła odwróconego
Autorzy:
Żegleń, Jakub
Powiązania:
https://bibliotekanauki.pl/articles/275210.pdf
Data publikacji:
2019
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
inverted pendulum
adaptive controller
LQR
wahadło odwrócone
regulator adaptacyjny
Opis:
The inverted pendulum is an unstable system with nonlinear dynamics. The task of controlling the inverted pendulum is complex. Therefore, the inverted pendulum over the years has become one of the most important systems on which every controller is tested. Here the objective is to control the system in such a way that the inverted pendulum stabilizes in the upright position. This analysis proposes a non-linear Lyapunov-based controller. The controller at hand, only provides the pendulum’s stabilization, therefore an additional module is needed – in this case the LQR controller. Both modules are combined with each other by using a two-loop parallel design. The newly designed controller has been experimentally tested and compared to the single LQR controller.
Odwrócone wahadło jest niestabilnym systemem o nieliniowej dynamice. Zadanie sterowania wahadłem odwróconym jest trudne, dlatego też układ ten przez lata stał się jednym z najważniejszych systemów, na których testowane są wszelkiego rodzaju regulatory. Celem sterowania systemem jest ustabilizowanie wahadła odwróconego w pozycji pionowo skierowanej ku górze. W artykule zaproponowano nowy algorytm adaptacyjny dla wahadła, będący kombinacją regulatora LQR oraz regulatora nieliniowego bazującego na twierdzeniu Lapunova. Oba moduły są połączone za pomocą dwupętlowej konstrukcji równoległej. Nowo zaprojektowany regulator został przetestowany eksperymentalnie i porównany z niezależnym modułem LQR.
Źródło:
Pomiary Automatyka Robotyka; 2019, 23, 4; 47-54
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Multivariable Adaptive Controller for the Nonlinear MIMO Model of a Container Ship
Autorzy:
Brasel, M.
Dworak, P.
Powiązania:
https://bibliotekanauki.pl/articles/117137.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Multi-Input
Multi-Output (MIMO)
MIMO System
MIMO Model
Container Ship
Adaptive Controller
MATLAB
Nonlinear Model
Algorithm
Opis:
The paper presents an adaptive multivariable control system for a Multi-Input, Multi-Output (MIMO) nonlinear dynamic process. The problems under study are exemplified by a synthesis of a course angle and forward speed control system for the nonlinear four-Degrees-of-Freedom (4-DoF) mathematical model of a single-screw, high-speed container ship. The paper presents the complexity of the assumed model to be analyzed and a synthesis method for the multivariable adaptive modal controller. Due to a strongly nonlinear nature of the ship movements equations a multivariable adaptive controller is tuned in relation to changeable hydrodynamic operating conditions of the ship. In accordance with the given operating conditions controller parameters are chosen on the basis of four measured auxiliary signals. The system synthesis is carried out by linearization of the nonlinear model of the ship at its nominal operating points in the steady-state and by means of a pole placement control method. The final part of the paper includes results of simulation tests of the proposed control system carried out in the MATLAB/Simulink environment along with conclusions and final remarks.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2014, 8, 1; 41-47
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Particle swarm optimization of artificial-neural-network-based on-line trained speed controller for battery electric vehicle
Autorzy:
Ufnalski, B.
Grzesiak, L.
Powiązania:
https://bibliotekanauki.pl/articles/201631.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
electric vehicle
speed control
adaptive ANN controller
particle swarm optimization (PSO)
Opis:
The paper presents implementation of PSO (Particle Swarm Optimization) to ANN-based speed controller tuning. Selected learning parameters are optimized according to the control objective function. A battery electric vehicle is considered as a potential plant for an adaptive speed controller. The need for adaptivity in the control algorithm is justified by variations of a total weight of the vehicle. A sizable section of the paper deals with selection of a combined objective function able to effectively evaluate the quality of a solution.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 661-667
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analysis of adaptive neuro-fuzzy PD controller with competitive Petri layers in speed control system for DC motor
Autorzy:
Derugo, P.
Szabat, K.
Powiązania:
https://bibliotekanauki.pl/articles/97666.pdf
Data publikacji:
2013
Wydawca:
Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
Tematy:
adaptive neuro-fuzzy controller
Peri Layers
competitive layers
MRAS
Opis:
In the paper the issues related to the application of adaptive neuro-fuzzy controller for speed controller of an electrical motor are considered. Adaptive control structure with reference model (MRAS) is used. The standard controller is modified by the implementation of competitive Petri layers into its internal structure. The proposed modification improves the properties of the drive compared to the control structure with standard neuro-fuzzy controller. Theoretical considerations are confirmed by simulation studies experimental tests done on the laboratory stand.
Źródło:
Computer Applications in Electrical Engineering; 2013, 11; 267-280
1508-4248
Pojawia się w:
Computer Applications in Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Controlling the mean arterial pressure by modified model reference adaptive controller based on two optimization algorithms
Autorzy:
Haamed, Rawaa
Hameed, Ekhlas
Powiązania:
https://bibliotekanauki.pl/articles/117814.pdf
Data publikacji:
2020
Wydawca:
Polskie Towarzystwo Promocji Wiedzy
Tematy:
Mean Arterial Pressure
Squirrel Search Algorithm
Model Reference Adaptive Controller
średnie ciśnienie tętnicze
algorytm wyszukiwania
kontroler adaptacyjny odniesienia modelu
Opis:
This paper Presents Modified Model Reference Adaptive Controller (MRAC) to regulate the hight blood pressure. It is based on slate model that repre-sent the mathematical equation that clarifies relationship between blood pressure and vasoactive drug injection. In this work Squirrel Search Algo-rithm (SSA) and Grey Wolf Optimizer (GWO) algorithms are considered to optimize the controller parameters. the results showed that the suggested controller has good performance and stabilize the mean arterial pressure with small settling time (below than 400s) and small overshoot (below than 1 mmHg) with low amount of error.
Źródło:
Applied Computer Science; 2020, 16, 2; 53-67
1895-3735
Pojawia się w:
Applied Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Neural network based adaptive state feedback controller for inverter with voltage matching circuit
Autorzy:
Niewiara, Ł.
Tarczewski, T.
Grzesiak, L. M.
Powiązania:
https://bibliotekanauki.pl/articles/376361.pdf
Data publikacji:
2014
Wydawca:
Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
Tematy:
adaptive linear-quadratic controller
voltage matching circuit
artificial neural network
current ripple
Opis:
This paper describes a discrete adaptive state feedback controller used to load current control in terms of variable DC voltage of inverter. Controller was designed by using linear quadratic optimization method. Adaptive LQR was used because of non-stationarity of the control system caused by Voltage Matching Circuit - VMC. Gain values of the adaptive controller were approximated by using an artificial neural network. The VMC was realized as an additional buck converter integrated with the main inverter. As the load of the 2-level inverter a 3-phase symmetric RL circuit was used. Simulation tests show the behavior of the load current regulation during DC bus voltage level step changes. The dependence between current RMS value and inverter DC bus voltage level was also shown. Simulation test was made by using Matlab Simulink and PLECS software.
Źródło:
Poznan University of Technology Academic Journals. Electrical Engineering; 2014, 80; 231-238
1897-0737
Pojawia się w:
Poznan University of Technology Academic Journals. Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller
Autorzy:
Yaghoubi, Zahra
Talebi, Heidar Ali
Powiązania:
https://bibliotekanauki.pl/articles/230002.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear multi agent systems
cluster consensus
fractional-order systems
adaptive sliding mode controller
Opis:
In this paper cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics via adaptive sliding mode controller. First, cluster consensus for fractional-order nonlinear multi agent systems with general form is investigated. Then, cluster consensus for the fractional-order nonlinear multi agent systems with first-order and general form dynamics is investigated by using adaptive sliding mode controller. Sufficient conditions for achieving cluster consensus for general fractional-order nonlinear multi agent systems are proved based on algebraic graph theory, Lyapunov stability theorem and Mittag-Leffler function. Finally, simulation examples are presented for first-order and general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller.
Źródło:
Archives of Control Sciences; 2019, 29, 4; 643-665
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A Novel Intelligent Neural Network Techniques of UPQC with Integrated Solar PV System for Power Quality Enhancement
Autorzy:
Rudraram, Ramesh
Chinnathambi, Sasi
Mani, Manikandan
Powiązania:
https://bibliotekanauki.pl/articles/27311926.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
PV system
Re-lift Luo DC-DC converter
Cascaded ANN MPPT
Adaptive PI controller
CNN assisted dq theory
Opis:
A Novel Intelligent control of a Unified Power Quality Conditioner (UPQC) coupled with Photovoltaic (PV) system is proposed in this work. The utilization of a Re-lift Luo converter in conjunction with a Cascaded Artificial Neural Network (ANN) Maximum Power Point Tracking (MPPT) method facilitates the optimization of power extraction from PV sources. UPQC is made up of a series and shunt Active Power Filter (APF), where the former compensates source side voltage quality issues and the latter compensates the load side current quality issues. The PV along with a series and shunt APFs of the UPQC are linked to a common dc-bus and for regulating a dc-bus voltage a fuzzy tuned Adaptive PI controller is employed. Moreover, a harmonics free reference current is generated with the aid of CNN assisted dq theory in case of the shunt APF. The results obtained from MATLAB simulation.
Źródło:
International Journal of Electronics and Telecommunications; 2023, 69, 3; 605--613
2300-1933
Pojawia się w:
International Journal of Electronics and Telecommunications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
One DOF robot manipulator control through type-2 fuzzy robust adaptive controller
Autorzy:
Naderolasli, Amir
Chatraei, Abbas
Powiązania:
https://bibliotekanauki.pl/articles/385206.pdf
Data publikacji:
2019
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
robot manipulator
Lyapunov function
one-DOF robot
adaptive fuzzy controller
robust
manipulator robota
funkcja Lapunowa
sterownik adaptacyjno-rozmyty
Opis:
In this article, the one DOF robot manipulator control is assessed through second type robust fuzzy-adaptive controller. The objective is to obtain a tracking path with appropriate accuracy. The stability of the closed loop system is verified through Lyapunov stability theory and the efficiency of tracking is analyzed subject to the constraints and uncertainty. In order to design the fuzzy controller a set of if-then fuzzy rules are considered which describe the system input-output behavior. Simulation and the results of the experiments on the one DOF robots indicate the effectiveness of the proposed methods.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 1; 65-70
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive neural voltage controller with tunable activation gain
Adaptacyjny neuronowy regulator napięcia z nastrojonym współczynnikiem wzmocnienia funkcji przynależności
Autorzy:
Tiliouine, H.
Powiązania:
https://bibliotekanauki.pl/articles/153867.pdf
Data publikacji:
2007
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
turbogenerator
adaptacyjny neuronowy regulator napięcia
współczynnik wzmocnienia aktywacji
adaptive neural voltage controller (ANVC)
activation gain
Opis:
In this paper an adaptive neural voltage controller (ANVC) for turbogenerator, with tunable activation function gain is developed. It combines both traditional neural model and neural model with activation gain depending on the operating conditions of the plant. Simulation results evaluating the performance of the ANVC under different operating conditions and disturbances are presented. These results are compared to that obtained with a fixed activation gain neural controller (the traditional one) and to that obtained with conventional (analog) controller.
W artykule przedstawiono model adaptacyjnego neuronowego regulatora napięcia dla turbogeneratora z nastrojonym współczynnikiem wzmocnienia funkcji przynależności. Ten model jest kombinacją klasycznego neurono-wego modelu i neuronowego modelu z współczynnikiem wzmocnienia funkcji przynależności zależnym od warunków pracy obiektu. Przedsta-wiono, także wyniki symulacji mające na celu badania efektywności proponowanego regulatora dla różnych zakłóceń i różnych warunków pracy turbogeneratora. Te wyniki porównano z wynikami uzyskanymi z regula-torem o stałym współczynnikiem wzmocnienia funkcji przynależności oraz z wynikami uzyskanymi z regulatorem analogowym.
Źródło:
Pomiary Automatyka Kontrola; 2007, R. 53, nr 4, 4; 114-116
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of a robust adaptive fuzzy controller globally stabilizing the multi-input nonlinear system with state-dependent uncertainty
Autorzy:
Park, Y.
Park, G.
Powiązania:
https://bibliotekanauki.pl/articles/205909.pdf
Data publikacji:
1998
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie rozmyte
sterownik rozmyty adaptacyjny
układ dynamiczny
adaptive fuzzy controller
fuzzy inference
multi-input nonlinear system
robustness
state-dependent uncertainties
Opis:
In this paper a novel robust adaptive fuzzy controller is proposed for the nonlinear system with state-dependent uncertainty. Compared with the conventional adaptive fuzzy controller that determines the function which bounds the uncertainty in the system dynamics by off-line calculation on the local state space, the proposed method determines that function by the fuzzy inference so that guarantees the stability of the closed loop system globally on the whole state space. In addition the method is applied to the multi-input system. We applied the proposed method to the Burn Control of the Tokamak fusion reactor whose dynamical equations contain the state-dependent uncertainty and proved the effectiveness of the scheme by the simulation results.
Źródło:
Control and Cybernetics; 1998, 27, 4; 613-629
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive fuzzy-sliding mode controller for trajectory tracking control of quad-rotor
Autorzy:
Simoud, Lahcen
Kadri, Boufeldja
Bousserhane, Ismail Khalil
Powiązania:
https://bibliotekanauki.pl/articles/384825.pdf
Data publikacji:
2020
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
quadrotor UAV
sliding mode control
adaptive PD-Slidng mode controller
fuzzy PD-sliding mode
Opis:
This paper deals with the design of an adaptive-fuzzy-PD-Sliding mode controller to achieve stabilization of a quadrotor aircraft in the presence of wind disturbance. Firstly, the dynamic system modeling is carried out using Euler-Lagrange formalism. Then, an adaptive PD-sliding mode control system with an integral-operation switching surface is investigated for quadrotor desired trajectory tracking. Finally, an adaptive fuzzy-PD-sliding mode controller is proposed to achieve control objectives and system stabilization where the fuzzy logic system used to dynamically control parameters settings of the PD-sliding mode equivalent control law. Effectiveness and robustness of the proposed control scheme is verified through simulation results taking into account external disturbances. The simulation results of a quadrotor aircraft control with the proposed controller demonstrate the high performance during flight such as null tracking error and robustness in the presence of external disturbances.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 2; 15-24
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Flatness-based adaptive fuzzy control of spark-ignited engines
Autorzy:
Rigatos, G.G.
Siano, P.
Powiązania:
https://bibliotekanauki.pl/articles/91727.pdf
Data publikacji:
2014
Wydawca:
Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
Tematy:
adaptive fuzzy controller
spark-ignited engines
SI engines
performance criterion
neuro-fuzzy networks
neuro-fuzzy approximator
Lyapunov stability analysis
simulation experiment
Opis:
An adaptive fuzzy controller is designed for spark-ignited (SI) engines, under the constraint that the system’s model is unknown. The control algorithm aims at satisfying the H∞ tracking performance criterion, which means that the influence of the modeling errors and the external disturbances on the tracking error is attenuated to an arbitrary desirable level. After transforming the SI-engine model into the canonical form, the resulting control inputs are shown to contain nonlinear elements which depend on the system’s parameters. The nonlinear terms which appear in the control inputs are approximated with the use of neuro-fuzzy networks. It is shown that a suitable learning law can be defined for the aforementioned neuro-fuzzy approximators so as to preserve the closed-loop system stability. With the use of Lyapunov stability analysis it is proven that the proposed adaptive fuzzy control scheme results in H∞ tracking performance. The efficiency of the proposed adaptive fuzzy control scheme is checked through simulation experiments.
Źródło:
Journal of Artificial Intelligence and Soft Computing Research; 2014, 4, 4; 231-242
2083-2567
2449-6499
Pojawia się w:
Journal of Artificial Intelligence and Soft Computing Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
PMSM drive with adaptive state feedback speed controller
Autorzy:
Szczepanski, R.
Tarczewski, T.
Grzesiak, L. M.
Powiązania:
https://bibliotekanauki.pl/articles/200540.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
adaptive control
state feedback controller
PMSM
Widrow-Hoff rule
Opis:
In this paper, the issue related to control of the plant with nonconstant parameters is addressed. In order to assure the unchanged response of the system, an adaptive state feedback speed controller for permanent magnet synchronous motor is proposed. The model-reference adaptive system is applied while the Widrow-Hoff rule is used as adjustment mechanism of controller’s coefficients. Necessary modifications related to construction of the cost function and formulas responsible for adjustment of state feedback speed controller’s coefficients are depicted. The impact of adaptation gain, which is the only parameter in proposed adjustment mechanism, on system behaviour is experimentally examined. The discussion about computational resources consumption of the proposed adaptation algorithm and implementation issues is included. The proposed approach is utilized in numerous experimental tests on modern SiC based drive with nonconstant moment of inertia. Comparison between adaptive and nonadaptive control schemes is also shown.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 5; 1009-1017
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Improving efficiency of pH control by balance-based adaptive control application
Autorzy:
Stebel, K.
Czeczot, J.
Metzger, M.
Powiązania:
https://bibliotekanauki.pl/articles/229312.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
process control
adaptive control
pH process
control efficiency
controller tuning
Opis:
This paper deals with the efficient control of the pH process. Considering the PI + gain scheduling (PI+GS) controller as the benchmark and its control performance as the base, we investigate experimentally the overall improvement in the control performance obtained by the application of the Balance-Based Adaptive Controller (B-BAC), which requires only the measurement data of the flow rates and pH values. The improvement of the control efficiency is investigated not only in terms of the controlled variable performance but also in terms of the manipulated variable performance considered as the considerable control cost. The application of the B-BAController can ensure lower controlled pH variability at the price of the control effort similar to the PI+GS approach and thus it can improve the overall efficiency of pH control. The second important contribution is the experimental validation of the very simple and intuitive tuning procedure for the B-BAController.
Źródło:
Archives of Control Sciences; 2013, 23, 1; 19-40
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
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