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A new approach to switching robust adaptive control
2004
2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)
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To take advantage of both adaptive and robust control methods, a novel method which switches between the two is proposed. ...
The method has been implemented on a 2 DOF articulated robot. Experimental results are presented to prove the robustness and the accuracy of the new control method. ...
The concept of SRAC The new method exploits the advantages of both adaptive and robust control methods. ...
doi:10.1109/cdc.2004.1428974
fatcat:vycsnpxy3nguxpriapd2zgewcy
Adaptive Robust Control: A New Approach To The Adaptive Control Of Linear Systems
Proceedings of the 44th IEEE Conference on Decision and Control
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This approach achieves global exponential stability subject to robust controllability, robust observability and a small-gain condition. ...
In this paper, a new adaptive control framework for LTI parametric systems based on an ISS small-gain-like condition and Kreisselmeier observer is proposed. ...
As in the proposed approach the role of adaptive control is to recover the performance of robust constant state feedback, this method is named as "adaptive robust control". ...
doi:10.1109/cdc.2005.1582144
fatcat:kb5jtybdzfb2ponag6z2wm2ciq
New Developments on Robust Nonlinear Control and Its Applications
2014
Mathematical Problems in Engineering
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In particular, operator based robust right coprime factorization method has been proved to be a new and effective method to solve the robust control and design of the nonlinear systems [5] [6] [7] . ...
method [3], adaptive control approach [4], neural network approach, and operator based right coprime factorization method [5] (see the references in [5]). ...
In particular, operator based robust right coprime factorization method has been proved to be a new and effective method to solve the robust control and design of the nonlinear systems [5] [6] [7] . ...
doi:10.1155/2014/463294
fatcat:445gtl4xubatvdxkuxjys36k3a
Model reaching adaptive-robust control law for vibration isolation systems with parametric uncertainty
2018
Journal of Vibroengineering
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In this paper, a novel approach, a model reaching adaptive-robust control law is studied for active vibration isolation systems. ...
Based on the Lyapunov stability theory, a model reaching adaptive and a robust control laws are derived for the uncertain system to reach the ideal manifold. ...
In this paper, a new approach, model reaching adaptive-robust control approach is studied. ...
doi:10.21595/jve.2017.18429
fatcat:b3cgnryicffupllusvcivomkda
New Developments on Robust Nonlinear Control and Its Applications 2016
2016
Mathematical Problems in Engineering
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Particularly, operator based robust right coprime factorization method has been proved to be a new and effective method to solve the robust control design problem of the nonlinear systems [6] [7] [8] . ...
Also, neural network is applied to deal with robust nonlinear control by using the ability of its adaptive learning. ...
Particularly, operator based robust right coprime factorization method has been proved to be a new and effective method to solve the robust control design problem of the nonlinear systems [6] [7] [8] ...
doi:10.1155/2016/5136407
fatcat:x6yy5w3oxnh5xmjcucvrq6mogu
Discussion on: Application of Logarithmic-based Parameter and Upper Bounding Estimation Rules to Adaptive-Robust Control of Robot Manipulators
2006
European Journal of Control
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Discussion A combination of robust and adaptive controllers is proposed in this paper to perform tracking for robot manipulators with uncertainty in parameter values. ...
It is shown by simulation studies involving a two-link planar robot that the proposed controller performs better tracking than either the adaptive or the robust controller alone. ...
To facilitate the development of a robust-adaptive controller, a new term is added to the usual Lyapunov function which is quadratic in the position and the velocity errors. ...
doi:10.3166/ejc.12.171-175
fatcat:g7xocczghrgl5bkmv272oshseq
Survey of robust control for rigid robots
1991
IEEE Control Systems
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This survey discusses current approaches to the robust control of the motion of rigid robots and summarizes the available literature on the subject. ...
The five major designs discussed are the "Linear-Multivariable" approach, the "Passivity" approach, the "Variable-Structure" approach, the "Saturation" approach and the "Robust-Adaptive" approach. ...
Robust Adaptive Approach In this section, we briefly review some approaches that combine adaptive and robust control concepts. ...
doi:10.1109/37.67672
fatcat:emlgjamal5ftrknnoi6wghmb2i
Discussion on: "Application of Logarithmic-based Parameter and Upper Bounding Estimation Rules to Adaptive-Robust Control of Robot Manipulators"
2006
European Journal of Control
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Discussion A combination of robust and adaptive controllers is proposed in this paper to perform tracking for robot manipulators with uncertainty in parameter values. ...
It is shown by simulation studies involving a two-link planar robot that the proposed controller performs better tracking than either the adaptive or the robust controller alone. ...
To facilitate the development of a robust-adaptive controller, a new term is added to the usual Lyapunov function which is quadratic in the position and the velocity errors. ...
doi:10.1016/s0947-3580(06)71027-5
fatcat:fvjsiybabrfjjpjttrf6c5j7xa
Progress in control approaches for hypersonic vehicle
2012
Science China Technological Sciences
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Then, the main challenges of control approaches for hypersonic vehicle are systematically analyzed in detail. hypersonic vehicle, robust control, adaptive control, fuzzy control, sliding mode control, ...
Methodologies such as robust control, adaptive control, sliding mode control and other hybrid methods have made significant progresses in hypersonic control. ...
Adaptive controller Adaptive control algorithms have given hope to a new level of flight vehicle robustness previously unachievable with traditional control methods. ...
doi:10.1007/s11431-012-5036-x
fatcat:true4kffhvfxpn2h6ipcef7ijq
Using a Fractionalized Integrator for Control Performance Enhancement
2015
International Journal of Innovative Computing, Information and Control
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This paper presents a new approach for robust control against unmodeled system dynamics and additive noises based on the introduction of fractional order functions in the control loop. ...
This technique may be easily implemented to a large variety of control schemes. ...
A novel approach for robust control has been proposed. ...
doi:10.24507/ijicic.11.06.2013
fatcat:pqr4je4ho5bqhip45g4psanejy
Modeling and Adaptive Tracking Control of a Quadrotor UAV
2012
International Journal of Intelligent Mechatronics and Robotics
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In this approach, the control of a quadrotor is performed by using decentralized adaptive controllers in the inner (attitude control) and outer (translational movement control) loops. ...
A robust parameter identifier estimates the required parameters for the outer control loops. Simulations are carried out to illustrate the robustness and tracking performance of the controllers. ...
A feedback linearization controller, which involves high-order derivative terms, and the second type involves a new approach to an adaptive sliding mode controller using input augmentation. ...
doi:10.4018/ijimr.2012100105
fatcat:y76y5zd55nbbvb5j7rkyg36wfi
TRENDS IN SYSTEMS AND SIGNALS
2005
IFAC Proceedings Volumes
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A common theme underlying all these areas is that problems in control systems and signals are usually defined and best studied in the framework of stochastic approaches. ...
This report discusses problems and methodologies that lie in the broad scope of systems and signals, with special focus on modeling, identification and signal processing; adaptation and learning; discrete ...
The ''immersion and invariance approach'' in Astolfi and Ortega (2003) gives a new adaptation algorithm based on a new tool of stability analysis and it is also shown to be robust to uncertainty in the ...
doi:10.3182/20050703-6-cz-1902.00002
fatcat:hbfgh7buzjgajhc5iuwuna6boi
Trends in systems and signals
2006
Annual Reviews in Control
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A common theme underlying all these areas is that problems in control systems and signals are usually defined and best studied in the framework of stochastic approaches. ...
This report discusses problems and methodologies that lie in the broad scope of systems and signals, with special focus on modeling, identification and signal processing; adaptation and learning; discrete ...
The ''immersion and invariance approach'' in Astolfi and Ortega (2003) gives a new adaptation algorithm based on a new tool of stability analysis and it is also shown to be robust to uncertainty in the ...
doi:10.1016/j.arcontrol.2006.01.001
fatcat:jokaptd525gtfpat3scwdjbz7a
Strong robustness in multi-phase adaptive control: the basic scheme
2004
International Journal of Adaptive Control and Signal Processing
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This paper introduces the general structure of adaptive control systems based on strong robustness. This adaptive approach splits into two phases. ...
In the first phase, effort is put on identification until enough information is obtained in order to design a controller stabilizing the actual system. ...
This paper intends to describe the general scheme of adaptive control based on strong robustness, whereas a complete analysis of the algorithm is in progress. ...
doi:10.1002/acs.798
fatcat:hhsvwamfirdqxhvqo5yytchswe
Editorial
2004
International Journal of Adaptive Control and Signal Processing
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The authors of 'Adaptive Robust Force Control for Vehicle Active Suspension' apply a modular adaptive robust control (MARC) technique to the design of the force-loop controller for a hydraulic actuator ...
The purpose of this special issue is to examine the impact of adaptive control and signal processing on automotive systems, to review current efforts across a range of applications, and to introduce new ...
feedback control, and Shah et al. have resorted to standard least-squares estimation for solving their multi-input multi-output adaptive control problem. ...
doi:10.1002/acs.804
fatcat:eordpmrakzbzdhxikvkweq6apm
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