Fuzzy stochastic damage mechanics (FSDM based on fuzzy auto-adaptive control theory

Directory of Open Access Journals (Sweden)

Ya-jun Wang

2012-06-01

Full Text Available In order to fully interpret and describe damage mechanics, the origin and development of fuzzy stochastic damage mechanics were introduced based on the analysis of the harmony of damage, probability, and fuzzy membership in the interval of [0,1]. In a complete normed linear space, it was proven that a generalized damage field can be simulated through β probability distribution. Three kinds of fuzzy behaviors of damage variables were formulated and explained through analysis of the generalized uncertainty of damage variables and the establishment of a fuzzy functional expression. Corresponding fuzzy mapping distributions, namely, the half-depressed distribution, swing distribution, and combined swing distribution, which can simulate varying fuzzy evolution in diverse stochastic damage situations, were set up. Furthermore, through demonstration of the generalized probabilistic characteristics of damage variables, the cumulative distribution function and probability density function of fuzzy stochastic damage variables, which show β probability distribution, were modified according to the expansion principle. The three-dimensional fuzzy stochastic damage mechanical behaviors of the Longtan rolled-concrete dam were examined with the self-developed fuzzy stochastic damage finite element program. The statistical correlation and non-normality of random field parameters were considered comprehensively in the fuzzy stochastic damage model described in this paper. The results show that an initial damage field based on the comprehensive statistical evaluation helps to avoid many difficulties in the establishment of experiments and numerical algorithms for damage mechanics analysis.

Verification and Tuning of an Adaptive Controller for an Unmanned Air Vehicle

Science.gov (United States)

Crespo, Luis G.; Matsutani, Megumi; Annaswamy, Anuradha M.

2010-01-01

This paper focuses on the analysis and tuning of a controller based on the Adaptive Control Technology for Safe Flight (ACTS) architecture. The ACTS architecture consists of a nominal, non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off-nominal ones. A framework unifying control verification and gain tuning is used to make the controller s ability to satisfy the closed-loop requirements more robust to uncertainty. In this paper we tune the gains of both controllers using this approach. Some advantages and drawbacks of adaptation are identified by performing a global robustness assessment of both the adaptive controller and its non-adaptive counterpart. The analyses used to determine these characteristics are based on evaluating the degradation in closed-loop performance resulting from uncertainties having increasing levels of severity. The specific adverse conditions considered can be grouped into three categories: aerodynamic uncertainties, structural damage, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine out conditions. The requirements considered are the peak structural loading, the ability of the controller to track pilot commands, the ability of the controller to keep the aircraft s state within the reliable flight envelope, and the handling/riding qualities of the aircraft. The nominal controller resulting from these tuning strategies was successfully validated using the NASA GTM Flight Test Vehicle.

Molecular mechanism of radioadaptive response: A cross-adaptive response for enhanced repair of DNA damage in adapted cells

International Nuclear Information System (INIS)

Takaji Ikushima

1997-01-01

The radioadaptive response (RAR) has been attributed to the induction of a repair mechanism by low doses of ionizing radiation, but the molecular nature of the mechanism is not yet elucidated. We have characterized RAR in a series of experiments in cultured Chinese hamster V79 cells. A 4-h interval is required for the full expression of RAR, which decays with the progression of cell proliferation. Treatments with inhibitors of poly(ADP-ribose) polymerase, protein- or RNA synthesis, and protein kinase C suppress the RAR expression. The RAR cross-reacts on clastogenic lesions induced by other physical and chemical DNA-damaging agents. The presence of newly synthesised proteins has been detected during the expression period. Experiments performed using single-cell gel electrophoresis provided more direct evidence for a faster and enhaced DNA repair rate in adapted cells. Here, using single-cell gel electrophoresis, a cross-adaptive response has been demonstrated for enhanced repair of DNA damage induced by neocarzinostatin in radio-adapted cells. (author)

Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

DEFF Research Database (Denmark)

Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

2013-01-01

such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast...... on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models...... allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show...

Damage control in vascular injury

NARCIS (Netherlands)

Leenen, L. P.H.

2017-01-01

The highest goal in damage control surgery is to stop the bleeding. Major injuries to the vessels therefore pose the major challenge in the damage control approach. Optimal care can be provided in combination with receiving and treatment rooms with CT, operative and endovascular capabilities. For

Bisecting real and fake body parts: effects of prism adaptation after right brain damage

Directory of Open Access Journals (Sweden)

Nadia eBolognini

2012-06-01

Full Text Available The representation of body parts holds a special status in the brain, due to their prototypical shape and the contribution of multisensory (visual and somatosensory-proprioceptive information. In a previous study (Sposito et al., 2010, we showed that patients with left unilateral spatial neglect exhibit a rightward bias in setting the mid-point of their left forearm, which becomes larger when bisecting a cylindrical object comparable in size. This body part advantage, found also in control participants, suggests partly different processes for computing the extent of body parts and objects. In this study we tested 16 right-brain-damaged patients, and 10 unimpaired participants, on a manual bisection task of their own (real left forearm, or a size-matched fake forearm. We then explored the effects of adaptation to rightward displacing prism exposure, which brings about leftward aftereffects. We found that all participants showed prism adaptation and aftereffects, with right-brain-damaged patients exhibiting a reduction of the rightward bias for both real and fake forearm, with no overall differences between them. Second, correlation analyses highlighted the role of visual and proprioceptive information for the metrics of body parts. Third, single-patient analyses showed dissociations between real and fake forearm bisections, and the effects of prism adaptation, as well as a more frequent impairment with fake body parts. In sum, the rightward bias shown by right-brain-damaged patients in bisecting body parts is reduced by prism exposure, as other components of the neglect syndrome; discrete spatial representations for real and fake body parts, for which visual and proprioceptive codes play different roles, are likely to exist. Multisensory information seems to render self bodily segments more resistant to the disruption brought about by right-hemisphere injury.

Adaptive Controller Effects on Pilot Behavior

Science.gov (United States)

Trujillo, Anna C.; Gregory, Irene M.; Hempley, Lucas E.

2014-01-01

Adaptive control provides robustness and resilience for highly uncertain, and potentially unpredictable, flight dynamics characteristic. Some of the recent flight experiences of pilot-in-the-loop with an adaptive controller have exhibited unpredicted interactions. In retrospect, this is not surprising once it is realized that there are now two adaptive controllers interacting, the software adaptive control system and the pilot. An experiment was conducted to categorize these interactions on the pilot with an adaptive controller during control surface failures. One of the objectives of this experiment was to determine how the adaptation time of the controller affects pilots. The pitch and roll errors, and stick input increased for increasing adaptation time and during the segment when the adaptive controller was adapting. Not surprisingly, altitude, cross track and angle deviations, and vertical velocity also increase during the failure and then slowly return to pre-failure levels. Subjects may change their behavior even as an adaptive controller is adapting with additional stick inputs. Therefore, the adaptive controller should adapt as fast as possible to minimize flight track errors. This will minimize undesirable interactions between the pilot and the adaptive controller and maintain maneuvering precision.

Complexity and Pilot Workload Metrics for the Evaluation of Adaptive Flight Controls on a Full Scale Piloted Aircraft

Science.gov (United States)

Hanson, Curt; Schaefer, Jacob; Burken, John J.; Larson, David; Johnson, Marcus

2014-01-01

Flight research has shown the effectiveness of adaptive flight controls for improving aircraft safety and performance in the presence of uncertainties. The National Aeronautics and Space Administration's (NASA)'s Integrated Resilient Aircraft Control (IRAC) project designed and conducted a series of flight experiments to study the impact of variations in adaptive controller design complexity on performance and handling qualities. A novel complexity metric was devised to compare the degrees of simplicity achieved in three variations of a model reference adaptive controller (MRAC) for NASA's F-18 (McDonnell Douglas, now The Boeing Company, Chicago, Illinois) Full-Scale Advanced Systems Testbed (Gen-2A) aircraft. The complexity measures of these controllers are also compared to that of an earlier MRAC design for NASA's Intelligent Flight Control System (IFCS) project and flown on a highly modified F-15 aircraft (McDonnell Douglas, now The Boeing Company, Chicago, Illinois). Pilot comments during the IRAC research flights pointed to the importance of workload on handling qualities ratings for failure and damage scenarios. Modifications to existing pilot aggressiveness and duty cycle metrics are presented and applied to the IRAC controllers. Finally, while adaptive controllers may alleviate the effects of failures or damage on an aircraft's handling qualities, they also have the potential to introduce annoying changes to the flight dynamics or to the operation of aircraft systems. A nuisance rating scale is presented for the categorization of nuisance side-effects of adaptive controllers.

Adaptive filtering prediction and control

CERN Document Server

Goodwin, Graham C

2009-01-01

Preface1. Introduction to Adaptive TechniquesPart 1. Deterministic Systems2. Models for Deterministic Dynamical Systems3. Parameter Estimation for Deterministic Systems4. Deterministic Adaptive Prediction5. Control of Linear Deterministic Systems6. Adaptive Control of Linear Deterministic SystemsPart 2. Stochastic Systems7. Optimal Filtering and Prediction8. Parameter Estimation for Stochastic Dynamic Systems9. Adaptive Filtering and Prediction10. Control of Stochastic Systems11. Adaptive Control of Stochastic SystemsAppendicesA. A Brief Review of Some Results from Systems TheoryB. A Summary o

Land Use Adaptation to Climate Change: Economic Damages from Land-Falling Hurricanes in the Atlantic and Gulf States of the USA, 1900–2005

Directory of Open Access Journals (Sweden)

Asim Zia

2012-05-01

Full Text Available Global climate change, especially the phenomena of global warming, is expected to increase the intensity of land-falling hurricanes. Societal adaptation is needed to reduce vulnerability from increasingly intense hurricanes. This study quantifies the adaptation effects of potentially policy driven caps on housing densities and agricultural cover in coastal (and adjacent inland areas vulnerable to hurricane damages in the Atlantic and Gulf Coastal regions of the U.S. Time series regressions, especially Prais-Winston and Autoregressive Moving Average (ARMA models, are estimated to forecast the economic impacts of hurricanes of varying intensity, given that various patterns of land use emerge in the Atlantic and Gulf coastal states of the U.S. The Prais-Winston and ARMA models use observed time series data from 1900 to 2005 for inflation adjusted hurricane damages and socio-economic and land-use data in the coastal or inland regions where hurricanes caused those damages. The results from this study provide evidence that increases in housing density and agricultural cover cause significant rise in the de-trended inflation-adjusted damages. Further, higher intensity and frequency of land-falling hurricanes also significantly increase the economic damages. The evidence from this study implies that a medium to long term land use adaptation in the form of capping housing density and agricultural cover in the coastal (and adjacent inland states can significantly reduce economic damages from intense hurricanes. Future studies must compare the benefits of such land use adaptation policies against the costs of development controls implied in housing density caps and agricultural land cover reductions.

Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator

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Xin Zuo

2017-01-01

Full Text Available Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.

Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

Directory of Open Access Journals (Sweden)

Poramate eManoonpong

2013-02-01

Full Text Available Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs and sensory feedback (afferent-based control but also on internal forward models (efference copies. They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.

Adaptive hybrid control of manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Thoracic damage control surgery.

Science.gov (United States)

Gonçalves, Roberto; Saad, Roberto

2016-01-01

The damage control surgery came up with the philosophy of applying essential maneuvers to control bleeding and abdominal contamination in trauma patients who are within the limits of their physiological reserves. This concept was extended to thoracic injuries, where relatively simple maneuvers can shorten operative time of in extremis patients. This article aims to revise the various damage control techniques in thoracic organs that must be known to the surgeon engaged in emergency care. RESUMO A cirurgia de controle de danos surgiu com a filosofia de se aplicar manobras essenciais para controle de sangramento e contaminação abdominal, em doentes traumatizados, nos limites de suas reservas fisiológicas. Este conceito se estendeu para as lesões torácicas, onde manobras relativamente simples, podem abreviar o tempo operatório de doentes in extremis. Este artigo tem como objetivo, revisar as diversas técnicas de controle de dano em órgãos torácicos, que devem ser de conhecimento do cirurgião que atua na emergência.

Simulation of Spacecraft Damage Tolerance and Adaptive Controls

Science.gov (United States)

2013-06-01

9.9639/24/3600/180*pi*0; %nodal precession constant assumed zero here wn=kpre*(Re/(Re+h))^3.5*cos(incln); %nodal precession (zero eccentricity ) V...for 0 H spin up w_wheel=2800*(2*pi/60); % Wheel speed in RPM converted to rad/s Iwheel=0.0614*1.3558179483314; % Wheel inertia in slug-ft^2...converted (exact) to kg m^2 h_wheel=Iwheel*w_wheel; % CMG Wheel Angular Momentum % [Fossen]’s adaptive feedforward parameters ETA=-100; LAMBDA=0.5

Integrated analysis considered mitigation cost, damage cost and adaptation cost in Northeast Asia

Science.gov (United States)

Park, J. H.; Lee, D. K.; Kim, H. G.; Sung, S.; Jung, T. Y.

2015-12-01

Various studies show that raising the temperature as well as storms, cold snap, raining and drought caused by climate change. And variety disasters have had a damage to mankind. The world risk report(2012, The Nature Conservancy) and UNU-EHS (the United Nations University Institute for Environment and Human Security) reported that more and more people are exposed to abnormal weather such as floods, drought, earthquakes, typhoons and hurricanes over the world. In particular, the case of Korea, we influenced by various pollutants which are occurred in Northeast Asian countries, China and Japan, due to geographical meteorological characteristics. These contaminants have had a significant impact on air quality with the pollutants generated in Korea. Recently, around the world continued their effort to reduce greenhouse gas and to improve air quality in conjunction with the national or regional development goals priority. China is also working on various efforts in accordance with the international flows to cope with climate change and air pollution. In the future, effect of climate change and air quality in Korea and Northeast Asia will be change greatly according to China's growth and mitigation policies. The purpose of this study is to minimize the damage caused by climate change on the Korean peninsula through an integrated approach taking into account the mitigation and adaptation plan. This study will suggest a climate change strategy at the national level by means of a comprehensive economic analysis of the impacts and mitigation of climate change. In order to quantify the impact and damage cost caused by climate change scenarios in a regional scale, it should be priority variables selected in accordance with impact assessment of climate change. The sectoral impact assessment was carried out on the basis of selected variables and through this, to derive the methodology how to estimate damage cost and adaptation cost. And then, the methodology was applied in Korea

Hybrid Decompositional Verification for Discovering Failures in Adaptive Flight Control Systems

Science.gov (United States)

Thompson, Sarah; Davies, Misty D.; Gundy-Burlet, Karen

2010-01-01

Adaptive flight control systems hold tremendous promise for maintaining the safety of a damaged aircraft and its passengers. However, most currently proposed adaptive control methodologies rely on online learning neural networks (OLNNs), which necessarily have the property that the controller is changing during the flight. These changes tend to be highly nonlinear, and difficult or impossible to analyze using standard techniques. In this paper, we approach the problem with a variant of compositional verification. The overall system is broken into components. Undesirable behavior is fed backwards through the system. Components which can be solved using formal methods techniques explicitly for the ranges of safe and unsafe input bounds are treated as white box components. The remaining black box components are analyzed with heuristic techniques that try to predict a range of component inputs that may lead to unsafe behavior. The composition of these component inputs throughout the system leads to overall system test vectors that may elucidate the undesirable behavior

Adaptive control of port-Hamiltonian systems

NARCIS (Netherlands)

Dirksz, D.A.; Scherpen, J.M.A.; Edelmayer, András

2010-01-01

In this paper an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for

Damage control resuscitation for abdominal war injury

Directory of Open Access Journals (Sweden)

Wei-wei DING

2014-03-01

Full Text Available In recent years, the concept of comprehensive treatment for military trauma has been comprehensively updated. The application of damage control surgery has significantly improved the clinical outcome of severe abdominal injury. With appropriate surgical intervention, post-trauma fluid resuscitation plays an increasingly important role in the treatment of abdominal injury. The damage control resuscitation strategy addresses the importance of permissive hypotension and haemostatic resuscitation for patients with severe trauma, under the guidance of damage control surgical principle. DOI: 10.11855/j.issn.0577-7402.2014.03.02

Climate change adaptation, damages and fossil fuel dependence. An RETD position paper on the costs of inaction

Energy Technology Data Exchange (ETDEWEB)

Katofsky, Ryan; Stanberry, Matt; Hagenstad, Marca; Frantzis, Lisa

2011-07-15

The Renewable Energy Technology Deployment (RETD) agreement initiated this project to advance the understanding of the ''Costs of Inaction'', i.e. the costs of climate change adaptation, damages and fossil fuel dependence. A quantitative estimate was developed as well as a better understanding of the knowledge gaps and research needs. The project also included some conceptual work on how to better integrate the analyses of mitigation, adaptation, damages and fossil fuel dependence in energy scenario modelling.

Preconditioning of skeletal muscle against contraction-induced damage: the role of adaptations to oxidants in mice.

Science.gov (United States)

McArdle, F; Spiers, S; Aldemir, H; Vasilaki, A; Beaver, A; Iwanejko, L; McArdle, A; Jackson, M J

2004-11-15

Adaptations of skeletal muscle following exercise are accompanied by changes in gene expression, which can result in protection against subsequent potentially damaging exercise. One cellular signal activating these adaptations may be an increased production of reactive oxygen and nitrogen species (ROS). The aim of this study was to examine the effect of a short period of non-damaging contractions on the subsequent susceptibility of muscle to contraction-induced damage and to examine the changes in gene expression that occur following the initial contraction protocol. Comparisons with changes in gene expression in cultured myotubes following treatment with a non-damaging concentration of hydrogen peroxide (H(2)O(2)) were used to identify redox-sensitive genes whose expression may be modified by the increased ROS production during contractions. Hindlimb muscles of mice were subjected to a preconditioning, non-damaging isometric contraction protocol in vivo. After 4 or 12 h, extensor digitorum longus (EDL) and soleus muscles were removed and subjected to a (normally) damaging contraction protocol in vitro. Muscles were also analysed for changes in gene expression induced by the preconditioning protocol using cDNA expression techniques. In a parallel study, C(2)C(12) myotubes were treated with a non-damaging concentration (100 microM) of H(2)O(2) and, at 4 and 12 h following treatment, myotubes were treated with a damaging concentration of H(2)O(2) (2 mM). Myotubes were analysed for changes in gene expression at 4 h following treatment with 100 microM H(2)O(2) alone. Data demonstrate that a prior period of non-damaging contractile activity resulted in significant protection of EDL and soleus muscles against a normally damaging contraction protocol 4 h later. This protection was associated with significant changes in gene expression. Prior treatment of myotubes with a non-damaging concentration of H(2)O(2) also resulted in significant protection against a damaging

Adaptive sequential controller

Energy Technology Data Exchange (ETDEWEB)

El-Sharkawi, Mohamed A. (Renton, WA); Xing, Jian (Seattle, WA); Butler, Nicholas G. (Newberg, OR); Rodriguez, Alonso (Pasadena, CA)

1994-01-01

An adaptive sequential controller (50/50') for controlling a circuit breaker (52) or other switching device to substantially eliminate transients on a distribution line caused by closing and opening the circuit breaker. The device adaptively compensates for changes in the response time of the circuit breaker due to aging and environmental effects. A potential transformer (70) provides a reference signal corresponding to the zero crossing of the voltage waveform, and a phase shift comparator circuit (96) compares the reference signal to the time at which any transient was produced when the circuit breaker closed, producing a signal indicative of the adaptive adjustment that should be made. Similarly, in controlling the opening of the circuit breaker, a current transformer (88) provides a reference signal that is compared against the time at which any transient is detected when the circuit breaker last opened. An adaptive adjustment circuit (102) produces a compensation time that is appropriately modified to account for changes in the circuit breaker response, including the effect of ambient conditions and aging. When next opened or closed, the circuit breaker is activated at an appropriately compensated time, so that it closes when the voltage crosses zero and opens when the current crosses zero, minimizing any transients on the distribution line. Phase angle can be used to control the opening of the circuit breaker relative to the reference signal provided by the potential transformer.

Adaptive sequential controller

Science.gov (United States)

El-Sharkawi, Mohamed A.; Xing, Jian; Butler, Nicholas G.; Rodriguez, Alonso

1994-01-01

An adaptive sequential controller (50/50') for controlling a circuit breaker (52) or other switching device to substantially eliminate transients on a distribution line caused by closing and opening the circuit breaker. The device adaptively compensates for changes in the response time of the circuit breaker due to aging and environmental effects. A potential transformer (70) provides a reference signal corresponding to the zero crossing of the voltage waveform, and a phase shift comparator circuit (96) compares the reference signal to the time at which any transient was produced when the circuit breaker closed, producing a signal indicative of the adaptive adjustment that should be made. Similarly, in controlling the opening of the circuit breaker, a current transformer (88) provides a reference signal that is compared against the time at which any transient is detected when the circuit breaker last opened. An adaptive adjustment circuit (102) produces a compensation time that is appropriately modified to account for changes in the circuit breaker response, including the effect of ambient conditions and aging. When next opened or closed, the circuit breaker is activated at an appropriately compensated time, so that it closes when the voltage crosses zero and opens when the current crosses zero, minimizing any transients on the distribution line. Phase angle can be used to control the opening of the circuit breaker relative to the reference signal provided by the potential transformer.

Integrating Systems Health Management with Adaptive Controls for a Utility-Scale Wind Turbine

Science.gov (United States)

Frost, Susan A.; Goebel, Kai; Trinh, Khanh V.; Balas, Mark J.; Frost, Alan M.

2011-01-01

Increasing turbine up-time and reducing maintenance costs are key technology drivers for wind turbine operators. Components within wind turbines are subject to considerable stresses due to unpredictable environmental conditions resulting from rapidly changing local dynamics. Systems health management has the aim to assess the state-of-health of components within a wind turbine, to estimate remaining life, and to aid in autonomous decision-making to minimize damage. Advanced adaptive controls can provide the mechanism to enable optimized operations that also provide the enabling technology for Systems Health Management goals. The work reported herein explores the integration of condition monitoring of wind turbine blades with contingency management and adaptive controls. Results are demonstrated using a high fidelity simulator of a utility-scale wind turbine.

Damage Control Technology - A Literature Review

Science.gov (United States)

2006-03-01

The Canadian Navy has identified the reduction of the total operating cost ( TOC ) of new ships as a priority. The major contributors to the TOC of a...Corporation, California, USA AC-CAS Group Co. Ltd., Bangkok, Thailand Apollo Fire Detectors, Hempshire, England, UK Compania Panamena de Sistemas ...National Defence DRDC Defence Research and Development Canada TOC Total Operating Cost BDCS Battle Damage Control System DC-ARM Damage Control

Damage control in orthopedics and traumatology

International Nuclear Information System (INIS)

Martinez R, Alfredo

2006-01-01

The damage control allows the clinician to institute a rapid process that avoids early death from over aggressive treatment of an injury and lack of attention to the underlying physiological state of victim. This concept allows rapid control and support of the patients underlying physiological condition in an attempt to avoid the triad of death: bleeding, hypothermia and metabolic acidosis. We revised the several indications to damage control in orthopedics in the patients with polytrauma, isolated extremity injury as femur fracture, and the geriatric patients and crane cephalic trauma

Adaptive Extremum Control and Wind Turbine Control

DEFF Research Database (Denmark)

Ma, Xin

1997-01-01

This thesis is divided into two parts, i.e., adaptive extremum control and modelling and control of a wind turbine. The rst part of the thesis deals with the design of adaptive extremum controllers for some processes which have the behaviour that process should have as high e ciency as possible...... in parameters, and thus directly lends itself to parameter estimation and adaptive control. The extremum control law is derived based on static optimization of a performance function. For a process with nonlinearity at output the intermediate signal between the linear part and nonlinear part plays an important....... Firstly, it is assumed that the nonlinear processes can be divided into a dynamic linear part and static nonlinear part. Consequently the processes with input nonlinearity and output nonlinearity are treated separately. With the nonlinearity at the input it is easy to set up a model which is linear...

Multiple model adaptive control with mixing

Science.gov (United States)

Kuipers, Matthew

Despite the remarkable theoretical accomplishments and successful applications of adaptive control, the field is not sufficiently mature to solve challenging control problems requiring strict performance and safety guarantees. Towards addressing these issues, a novel deterministic multiple-model adaptive control approach called adaptive mixing control is proposed. In this approach, adaptation comes from a high-level system called the supervisor that mixes into feedback a number of candidate controllers, each finely-tuned to a subset of the parameter space. The mixing signal, the supervisor's output, is generated by estimating the unknown parameters and, at every instant of time, calculating the contribution level of each candidate controller based on certainty equivalence. The proposed architecture provides two characteristics relevant to solving stringent, performance-driven applications. First, the full-suite of linear time invariant control tools is available. A disadvantage of conventional adaptive control is its restriction to utilizing only those control laws whose solutions can be feasibly computed in real-time, such as model reference and pole-placement type controllers. Because its candidate controllers are computed off line, the proposed approach suffers no such restriction. Second, the supervisor's output is smooth and does not necessarily depend on explicit a priori knowledge of the disturbance model. These characteristics can lead to improved performance by avoiding the unnecessary switching and chattering behaviors associated with some other multiple adaptive control approaches. The stability and robustness properties of the adaptive scheme are analyzed. It is shown that the mean-square regulation error is of the order of the modeling error. And when the parameter estimate converges to its true value, which is guaranteed if a persistence of excitation condition is satisfied, the adaptive closed-loop system converges exponentially fast to a closed

Fatigue-Damage Estimation and Control for Wind Turbines

DEFF Research Database (Denmark)

Barradas Berglind, Jose de Jesus

How can fatigue-damage for control of wind turbines be represented? Fatigue-damage is indeed a crucial factor in structures such as wind turbines that are exposed to turbulent and rapidly changing wind flow conditions. This is relevant both in their design stage and during the control......, the inclusion of fatigue-damage within feedback control loops is of special interest. Four strategies in total are proposed in this work: three for the wind turbine level and one for the wind farm level. On one hand, the three strategies in the turbine level are based on hysteresis operators and strive......-damage estimation in wind turbine components, to the mixed objective operation of wind energy conversion systems, and to the synthesis of control strategies that include hysteresis operators....

Predictor-Based Model Reference Adaptive Control

Science.gov (United States)

Lavretsky, Eugene; Gadient, Ross; Gregory, Irene M.

2010-01-01

This paper is devoted to the design and analysis of a predictor-based model reference adaptive control. Stable adaptive laws are derived using Lyapunov framework. The proposed architecture is compared with the now classical model reference adaptive control. A simulation example is presented in which numerical evidence indicates that the proposed controller yields improved transient characteristics.

Adaptive control of discrete-time chaotic systems: a fuzzy control approach

International Nuclear Information System (INIS)

Feng Gang; Chen Guanrong

2005-01-01

This paper discusses adaptive control of a class of discrete-time chaotic systems from a fuzzy control approach. Using the T-S model of discrete-time chaotic systems, an adaptive control algorithm is developed based on some conventional adaptive control techniques. The resulting adaptively controlled chaotic system is shown to be globally stable, and its robustness is discussed. A simulation example of the chaotic Henon map control is finally presented, to illustrate an application and the performance of the proposed control algorithm

Signs of long-term adaptation to permanent brain damage as revealed by prehension studies of children with spastic hemiparesis

NARCIS (Netherlands)

Steenbergen, B.; Meulenbroek, R.G.J.; Latash, M.L.; Levin, M.

2003-01-01

This chapter focusses on signs of long-term adaptation to permanent brain damage in children with spastic hemiparesis. First, we recognize that adaptation processes may occur at various time scales. Then, we formulate a tentative strategy to infer signs of adaptation from behavioral data.

Adaptive Augmenting Control and Launch Vehicle Adaptive Control Flight Experiments

Data.gov (United States)

National Aeronautics and Space Administration — Researchers at NASA Armstrong are working to further the development of an adaptive augmenting control algorithm (AAC). The AAC was developed to improve the...

[Damage control in trauma patients with hemodynamic instability].

Science.gov (United States)

Müller, Thorben; Doll, Dietrich; Kliebe, Frank; Ruchholtz, Steffen; Kühne, Christian

2010-10-01

The term "Damage-control" is borrowed from naval terminology. It means the initial control of a damaged ship. Because of the lethal triad in multiple injured patients the classical concept of definitive surgically therapy in the acute phase of the injury has a high rate of complications such as exsanguination, sepsis, heart failure and multiple organ failure. The core idea of the damage control concept was to minimize the additional trauma by surgical operations in these critical patients in the first phase. This means temporary control of a hemorrhage and measures for stopping abdominal contamination. After 24 - 48 hours in the intensive care unit and correction of physiological disturbances further interventions are performed for definitively treatment of the injuries. Summarized, the damage control strategy comprises an abbreviated operation, intensive care unit resuscitation, and a return to the operating room for the definitive operation after hemodynamic stabilisation of the patient. © Georg Thieme Verlag Stuttgart · New York.

An adaptive Cartesian control scheme for manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.

Dynamic optimization and adaptive controller design

Science.gov (United States)

Inamdar, S. R.

2010-10-01

In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.

Adaptive Flight Control Research at NASA

Science.gov (United States)

Motter, Mark A.

2008-01-01

A broad overview of current adaptive flight control research efforts at NASA is presented, as well as some more detailed discussion of selected specific approaches. The stated objective of the Integrated Resilient Aircraft Control Project, one of NASA s Aviation Safety programs, is to advance the state-of-the-art of adaptive controls as a design option to provide enhanced stability and maneuverability margins for safe landing in the presence of adverse conditions such as actuator or sensor failures. Under this project, a number of adaptive control approaches are being pursued, including neural networks and multiple models. Validation of all the adaptive control approaches will use not only traditional methods such as simulation, wind tunnel testing and manned flight tests, but will be augmented with recently developed capabilities in unmanned flight testing.

Alleviating inequality in climate policy costs : An integrated perspective on mitigation, damage and adaptation

NARCIS (Netherlands)

De Cian, E.; Hof, A. F.; Marangoni, G.; Tavoni, M.; van Vuuren, Detlef

2016-01-01

Equity considerations play an important role in international climate negotiations. While policy analysis has often focused on equity as it relates to mitigation costs, there are large regional differences in adaptation costs and the level of residual damage. This paper illustrates the relevance of

Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

Directory of Open Access Journals (Sweden)

Muzaffer Metin

2014-01-01

Full Text Available In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibration control is applied to the system through the secondary suspension. The active suspension application of rail vehicle is examined by using 5-DOF quarter-rail vehicle model by using Manchester benchmark dynamic parameters. The new parameters of adaptive controller are optimized by means of genetic algorithm toolbox of MATLAB. Simulations are performed at maximum urban transportation speed (90 km/h of the rail vehicle with ±5% load changes of rail vehicle body to test the robustness of controllers. As a result, superior performance of parameters of adaptive controller is determined in time and frequency domain.

Adaptive control of a Stewart platform-based manipulator

Science.gov (United States)

Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.

1993-01-01

A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Fatigue-Damage Estimation and Control for Wind Turbines

OpenAIRE

Barradas Berglind, Jose de Jesus

2015-01-01

How can fatigue-damage for control of wind turbines be represented? Fatigue-damage is indeed a crucial factor in structures such as wind turbines that are exposed to turbulent and rapidly changing wind flow conditions. This is relevant both in their design stage and during the control of their operation. Accordingly, the most recognized methods of fatigue-damage estimation are discussed in this thesis.In wind energy conversion systems there is an intrinsic trade-off between power generation m...

Tracking and Control of Gas Turbine Engine Component Damage/Life

Science.gov (United States)

Jaw, Link C.; Wu, Dong N.; Bryg, David J.

2003-01-01

This paper describes damage mechanisms and the methods of controlling damages to extend the on-wing life of critical gas turbine engine components. Particularly, two types of damage mechanisms are discussed: creep/rupture and thermo-mechanical fatigue. To control these damages and extend the life of engine hot-section components, we have investigated two methodologies to be implemented as additional control logic for the on-board electronic control unit. This new logic, the life-extending control (LEC), interacts with the engine control and monitoring unit and modifies the fuel flow to reduce component damages in a flight mission. The LEC methodologies were demonstrated in a real-time, hardware-in-the-loop simulation. The results show that LEC is not only a new paradigm for engine control design, but also a promising technology for extending the service life of engine components, hence reducing the life cycle cost of the engine.

Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

Science.gov (United States)

Nguyen, Nhan T.

2012-01-01

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

Adaptive powertrain control for plugin hybrid electric vehicles

Science.gov (United States)

Kedar-Dongarkar, Gurunath; Weslati, Feisel

2013-10-15

A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

Adaptive self-correcting control system

International Nuclear Information System (INIS)

Ellis, S.H.

1984-01-01

A control system for regulating a controlled device or process, such as a turbofan engine, produces independent multiple estimates of one or more controlled variables of the device or process by combining the signals from a plurality of feedback sensors, which provide information related to the controlled variables, in weighted nonordered pairs. The independent multiple estimates of each controlled variable are combined into a weighted average, and individual estimates which differ by more than a specified amount from the weighted average are edited and temporarily removed from consideration. A revised weighted average value of each controlled variable is then produced, and this value is used to limit or control operation of the device or process. Adaptive trim is provided to compensate for changes in the device or process being controlled, such as engine deterioration, by slowly trimming each individual estimate toward the mean, and includes error compensation which constrains the weighted sum of the adaptive trims to equal zero, thereby preventing the adaptive trim from changing the operating level of the device or process. A secondary editing circuit based on a majority rule principle identifies a failed feedback sensor and permanently excludes all individual estimates of the controlled variable based on the failed sensor. Editing boundaries are increased and adaptive trim rate is varied when a transient occurs in the operation of the device or process. Further transient compensation may be required for a system with more severe transient requirements, and this invention includes compensation to selected feedback parameters such as turbine temperature to account for differences between steady state and transient values

Direct adaptive control of manipulators in Cartesian space

Science.gov (United States)

Seraji, H.

1987-01-01

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Full-Scaled Advanced Systems Testbed: Ensuring Success of Adaptive Control Research Through Project Lifecycle Risk Mitigation

Science.gov (United States)

Pavlock, Kate M.

2011-01-01

The National Aeronautics and Space Administration's Dryden Flight Research Center completed flight testing of adaptive controls research on the Full-Scale Advance Systems Testbed (FAST) in January of 2011. The research addressed technical challenges involved with reducing risk in an increasingly complex and dynamic national airspace. Specific challenges lie with the development of validated, multidisciplinary, integrated aircraft control design tools and techniques to enable safe flight in the presence of adverse conditions such as structural damage, control surface failures, or aerodynamic upsets. The testbed is an F-18 aircraft serving as a full-scale vehicle to test and validate adaptive flight control research and lends a significant confidence to the development, maturation, and acceptance process of incorporating adaptive control laws into follow-on research and the operational environment. The experimental systems integrated into FAST were designed to allow for flexible yet safe flight test evaluation and validation of modern adaptive control technologies and revolve around two major hardware upgrades: the modification of Production Support Flight Control Computers (PSFCC) and integration of two, fourth-generation Airborne Research Test Systems (ARTS). Post-hardware integration verification and validation provided the foundation for safe flight test of Nonlinear Dynamic Inversion and Model Reference Aircraft Control adaptive control law experiments. To ensure success of flight in terms of cost, schedule, and test results, emphasis on risk management was incorporated into early stages of design and flight test planning and continued through the execution of each flight test mission. Specific consideration was made to incorporate safety features within the hardware and software to alleviate user demands as well as into test processes and training to reduce human factor impacts to safe and successful flight test. This paper describes the research configuration

Simulation and Rapid Prototyping of Adaptive Control Systems using the Adaptive Blockset for Simulink

DEFF Research Database (Denmark)

Ravn, Ole

1998-01-01

The paper describes the design considerations and implementational aspects of the Adaptive Blockset for Simulink which has been developed in a prototype implementation. The concept behind the Adaptive Blockset for Simulink is to bridge the gap between simulation and prototype controller implement...... design, controller and state variable filter.The use of the Adaptive Blockset is demonstrated using a simple laboratory setup. Both the use of the blockset for simulation and for rapid prototyping of a real-time controller are shown.......The paper describes the design considerations and implementational aspects of the Adaptive Blockset for Simulink which has been developed in a prototype implementation. The concept behind the Adaptive Blockset for Simulink is to bridge the gap between simulation and prototype controller...... implementation. This is done using the code generation capabilities of Real Time Workshop in combination with C s-function blocks for adaptive control in Simulink. In the paper the design of each group of blocks normally found in adaptive controllers is outlined. The block types are, identification, controller...

Validation of the mortality prediction equation for damage control ...

African Journals Online (AJOL)

, preoperative lowest pH and lowest core body temperature to derive an equation for the purpose of predicting mortality in damage control surgery. It was shown to reliably predict death despite damage control surgery. The equation derivation ...

Adaptive coupling between damage mechanics and peridynamics: a route for objective simulation of material degradation up to complete failure

KAUST Repository

Han, Fei

2016-05-17

The objective (mesh-independent) simulation of evolving discontinuities, such as cracks, remains a challenge. Current techniques are highly complex or involve intractable computational costs, making simulations up to complete failure difficult. We propose a framework as a new route toward solving this problem that adaptively couples local-continuum damage mechanics with peridynamics to objectively simulate all the steps that lead to material failure: damage nucleation, crack formation and propagation. Local-continuum damage mechanics successfully describes the degradation related to dispersed microdefects before the formation of a macrocrack. However, when damage localizes, it suffers spurious mesh dependency, making the simulation of macrocracks challenging. On the other hand, the peridynamic theory is promising for the simulation of fractures, as it naturally allows discontinuities in the displacement field. Here, we present a hybrid local-continuum damage/peridynamic model. Local-continuum damage mechanics is used to describe “volume” damage before localization. Once localization is detected at a point, the remaining part of the energy is dissipated through an adaptive peridynamic model capable of the transition to a “surface” degradation, typically a crack. We believe that this framework, which actually mimics the real physical process of crack formation, is the first bridge between continuum damage theories and peridynamics. Two-dimensional numerical examples are used to illustrate that an objective simulation of material failure can be achieved by this method.

Adaptive coupling between damage mechanics and peridynamics: a route for objective simulation of material degradation up to complete failure

KAUST Repository

Han, Fei; Lubineau, Gilles; Azdoud, Yan

2016-01-01

The objective (mesh-independent) simulation of evolving discontinuities, such as cracks, remains a challenge. Current techniques are highly complex or involve intractable computational costs, making simulations up to complete failure difficult. We propose a framework as a new route toward solving this problem that adaptively couples local-continuum damage mechanics with peridynamics to objectively simulate all the steps that lead to material failure: damage nucleation, crack formation and propagation. Local-continuum damage mechanics successfully describes the degradation related to dispersed microdefects before the formation of a macrocrack. However, when damage localizes, it suffers spurious mesh dependency, making the simulation of macrocracks challenging. On the other hand, the peridynamic theory is promising for the simulation of fractures, as it naturally allows discontinuities in the displacement field. Here, we present a hybrid local-continuum damage/peridynamic model. Local-continuum damage mechanics is used to describe “volume” damage before localization. Once localization is detected at a point, the remaining part of the energy is dissipated through an adaptive peridynamic model capable of the transition to a “surface” degradation, typically a crack. We believe that this framework, which actually mimics the real physical process of crack formation, is the first bridge between continuum damage theories and peridynamics. Two-dimensional numerical examples are used to illustrate that an objective simulation of material failure can be achieved by this method.

Adaptation in the fuzzy self-organising controller

DEFF Research Database (Denmark)

Jantzen, Jan; Poulsen, Niels Kjølstad

2003-01-01

This simulation study provides an analysis of the adaptation mechanism in the self-organising fuzzy controller, SOC. The approach is to apply a traditional adaptive control viewpoint. A simplified performance measure in the SOC controller is used in a loss function, and thus the MIT rule implies...... an update mechanism similar to the SOC update mechanism. Two simulations of proportionally controlled systems show the behaviour of the proportional gain as it adapts to a specified behaviour....

Neural network based adaptive control for nonlinear dynamic regimes

Science.gov (United States)

Shin, Yoonghyun

Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.

Temperature uniformity control in RTP using multivariable adaptive control

Energy Technology Data Exchange (ETDEWEB)

Morales, S.; Dahhou, B.; Dilhac, J.M. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Morales, S.

1995-12-31

In Rapid Thermal Processing (RTP) control of the wafer temperature during all processing to get good trajectory following, together with spatial temperature uniformity, is essential. It is well know as RTP process is nonlinear, classical control laws are not very efficient. In this work, the authors aim at studying the applicability of MIMO (Multiple Inputs Multiple Outputs) adaptive techniques to solve the temperature control problems in RTP. A multivariable linear discrete time CARIMA (Controlled Auto Regressive Integrating Moving Average) model of the highly non-linear process is identified on-line using a robust identification technique. The identified model is used to compute an infinite time LQ (Linear Quadratic) based control law, with a partial state reference model. This reference model smooths the original setpoint sequence, and at the same time gives a tracking capability to the LQ control law. After an experimental open-loop investigation, the results of the application of the adaptive control law are presented. Finally, some comments on the future difficulties and developments of the application of adaptive control in RTP are given. (author) 13 refs.

Adaptive Method Using Controlled Grid Deformation

Directory of Open Access Journals (Sweden)

Florin FRUNZULICA

2011-09-01

Full Text Available The paper presents an adaptive method using the controlled grid deformation over an elastic, isotropic and continuous domain. The adaptive process is controlled with the principal strains and principal strain directions and uses the finite elements method. Numerical results are presented for several test cases.

Adaptive LQG controller tuning

Czech Academy of Sciences Publication Activity Database

Novák, Miroslav; Böhm, Josef; Nedoma, Petr; Tesař, Ludvík

2003-01-01

Roč. 150, č. 6 (2003), s. 655-665 ISSN 1350-2379 R&D Projects: GA ČR GA102/02/0204; GA AV ČR IBS1075102 Institutional research plan: CEZ:AV0Z1075907 Keywords : adaptive controller * LQG controller * controller design Subject RIV: JB - Sensors, Measurment, Regulation Impact factor: 0.745, year: 2003

Reference-shaping adaptive control by using gradient descent optimizers.

Directory of Open Access Journals (Sweden)

Baris Baykant Alagoz

Full Text Available This study presents a model reference adaptive control scheme based on reference-shaping approach. The proposed adaptive control structure includes two optimizer processes that perform gradient descent optimization. The first process is the control optimizer that generates appropriate control signal for tracking of the controlled system output to a reference model output. The second process is the adaptation optimizer that performs for estimation of a time-varying adaptation gain, and it contributes to improvement of control signal generation. Numerical update equations derived for adaptation gain and control signal perform gradient descent optimization in order to decrease the model mismatch errors. To reduce noise sensitivity of the system, a dead zone rule is applied to the adaptation process. Simulation examples show the performance of the proposed Reference-Shaping Adaptive Control (RSAC method for several test scenarios. An experimental study demonstrates application of method for rotor control.

Adaptive tracking control of nonholonomic systems: an example

NARCIS (Netherlands)

Lefeber, A.A.J.; Nijmeijer, Henk

1999-01-01

We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not

Maritime adaptive optics beam control

OpenAIRE

Corley, Melissa S.

2010-01-01

The Navy is interested in developing systems for horizontal, near ocean surface, high-energy laser propagation through the atmosphere. Laser propagation in the maritime environment requires adaptive optics control of aberrations caused by atmospheric distortion. In this research, a multichannel transverse adaptive filter is formulated in Matlab's Simulink environment and compared to a complex lattice filter that has previously been implemented in large system simulations. The adaptive fil...

Adaptive Torque Control of Variable Speed Wind Turbines

Energy Technology Data Exchange (ETDEWEB)

Johnson, K. E.

2004-08-01

The primary focus of this work is a new adaptive controller that is designed to resemble the standard non-adaptive controller used by the wind industry for variable speed wind turbines below rated power. This adaptive controller uses a simple, highly intuitive gain adaptation law designed to seek out the optimal gain for maximizing the turbine's energy capture. It is designed to work even in real, time-varying winds.

Flight Results of the NF-15B Intelligent Flight Control System (IFCS) Aircraft with Adaptation to a Longitudinally Destabilized Plant

Science.gov (United States)

Bosworth, John T.

2008-01-01

Adaptive flight control systems have the potential to be resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. The goal for the adaptive system is to provide an increase in survivability in the event that these extreme changes occur. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane. The adaptive element was incorporated into a dynamic inversion controller with explicit reference model-following. As a test the system was subjected to an abrupt change in plant stability simulating a destabilizing failure. Flight evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to stabilize the vehicle and reestablish good onboard reference model-following. Flight evaluation with the simulated destabilizing failure and adaptation engaged showed improvement in the vehicle stability margins. The convergent properties of this initial system warrant additional improvement since continued maneuvering caused continued adaptation change. Compared to the non-adaptive system the adaptive system provided better closed-loop behavior with improved matching of the onboard reference model. A detailed discussion of the flight results is presented.

Flight Test Results from the NF-15B Intelligent Flight Control System (IFCS) Project with Adaptation to a Simulated Stabilator Failure

Science.gov (United States)

Bosworth, John T.; Williams-Hayes, Peggy S.

2010-01-01

Adaptive flight control systems have the potential to be more resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane and subjected to an inflight simulation of a failed (frozen) (unmovable) stabilator. Formation flight handling qualities evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to decouple the roll and pitch response and reestablish good onboard model tracking. Flight evaluation with the simulated stabilator failure and adaptation engaged showed that there was generally improvement in the pitch response; however, a tendency for roll pilot-induced oscillation was experienced. A detailed discussion of the cause of the mixed results is presented.

A new approach to adaptive control of manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Determination Of Adaptive Control Parameter Using Fuzzy Logic Controller

Directory of Open Access Journals (Sweden)

Omur Can Ozguney

2017-08-01

Full Text Available The robot industry has developed along with the increasing the use of robots in industry. This has led to increase the studies on robots. The most important part of these studies is that the robots must be work with minimum tracking trajectory error. But it is not easy for robots to track the desired trajectory because of the external disturbances and parametric uncertainty. Therefore adaptive and robust controllers are used to decrease tracking error. The aim of this study is to increase the tracking performance of the robot and minimize the trajectory tracking error. For this purpose adaptive control law for robot manipulator is identified and fuzzy logic controller is applied to find the accurate values for adaptive control parameter. Based on the Lyapunov theory stability of the uncertain system is guaranteed. In this study robot parameters are assumed to be unknown. This controller is applied to a robot model and the results of simulations are given. Controller with fuzzy logic and without fuzzy logic are compared with each other. Simulation results show that the fuzzy logic controller has improved the results.

As we age: Does slippage of quality control in the immune system lead to collateral damage?

Science.gov (United States)

Müller, Ludmila; Pawelec, Graham

2015-09-01

The vertebrate adaptive immune system is remarkable for its possession of a very broad range of antigen receptors imbuing the system with exquisite specificity, in addition to the phagocytic and inflammatory cells of the innate system shared with invertebrates. This system requires strict control both at the level of the generation the cells carrying these receptors and at the level of their activation and effector function mediation in order to avoid autoimmunity and mitigate immune pathology. Thus, quality control checkpoints are built into the system at multiple nodes in the response, relying on clonal selection and regulatory networks to maximize pathogen-directed effects and minimize collateral tissue damage. However, these checkpoints are compromised with age, resulting in poorer immune control manifesting as tissue-damaging autoimmune and inflammatory phenomena which can cause widespread systemic disease, paradoxically compounding the problems associated with increased susceptibility to infectious disease and possibly cancer in the elderly. Better understanding the reasons for slippage of immune control will pave the way for developing rational strategies for interventions to maintain appropriate immunity while reducing immunopathology. Copyright © 2015 Elsevier B.V. All rights reserved.

Direct adaptive control using feedforward neural networks

OpenAIRE

Cajueiro, Daniel Oliveira; Hemerly, Elder Moreira

2003-01-01

ABSTRACT: This paper proposes a new scheme for direct neural adaptive control that works efficiently employing only one neural network, used for simultaneously identifying and controlling the plant. The idea behind this structure of adaptive control is to compensate the control input obtained by a conventional feedback controller. The neural network training process is carried out by using two different techniques: backpropagation and extended Kalman filter algorithm. Additionally, the conver...

Adaptive control system having hedge unit and related apparatus and methods

Science.gov (United States)

Johnson, Eric Norman (Inventor); Calise, Anthony J. (Inventor)

2007-01-01

The invention includes an adaptive control system used to control a plant. The adaptive control system includes a hedge unit that receives at least one control signal and a plant state signal. The hedge unit generates a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having one or more characteristics to which the adaptive control system is not to adapt, and a second model not having the characteristic(s) to which the adaptive control system is not to adapt. The hedge signal is used in the adaptive control system to remove the effect of the characteristic from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristic in controlling the plant.

Pilot-Induced Oscillation Suppression by Using 1 Adaptive Control

Directory of Open Access Journals (Sweden)

Chuan Wang

2012-01-01

research activities that aim to alleviate this problem. In this paper, the L1 adaptive controller has been introduced to suppress the PIO, which is caused by rate limiting and pure time delay. Due to its architecture, the L1 adaptive controller will achieve a desired response with fast adaptation. The analysis of PIO and its suppression by L1 adaptive controller are presented in detail in the paper. The simulation results indicate that the L1 adaptive control is efficient in solving this kind of problem.

Adaptive PI Controller for a Nonlinear System

Directory of Open Access Journals (Sweden)

D. Rathikarani

2009-10-01

Full Text Available Most of the industrial processes are inherently nonlinear in their behaviour. Designs of controllers for these nonlinear processes are difficult, as they do not follow superposition theorem. Adaptive controller can change its behaviour in response to changes in the dynamics of the process and disturbances. Hence adaptive controller can be used to control nonlinear processes. Direct Model Reference Adaptive Control is a technique, in which a reference model involving the desired performances is specified. In the present work, a DMRAC is designed and implemented to achieve satisfactory control of a nonlinear system in all its local linear operating regions. The closed loop system is made BIBO stable by proper control techniques. The controller is designed through simulation in Matlab platform and is validated in real time by conducting experiments on the laboratory Air Flow Control System using the dSPACE interface.

Adaptive control method for core power control in TRIGA Mark II reactor

Science.gov (United States)

Sabri Minhat, Mohd; Selamat, Hazlina; Subha, Nurul Adilla Mohd

2018-01-01

The 1MWth Reactor TRIGA PUSPATI (RTP) Mark II type has undergone more than 35 years of operation. The existing core power control uses feedback control algorithm (FCA). It is challenging to keep the core power stable at the desired value within acceptable error bands to meet the safety demand of RTP due to the sensitivity of nuclear research reactor operation. Currently, the system is not satisfied with power tracking performance and can be improved. Therefore, a new design core power control is very important to improve the current performance in tracking and regulate reactor power by control the movement of control rods. In this paper, the adaptive controller and focus on Model Reference Adaptive Control (MRAC) and Self-Tuning Control (STC) were applied to the control of the core power. The model for core power control was based on mathematical models of the reactor core, adaptive controller model, and control rods selection programming. The mathematical models of the reactor core were based on point kinetics model, thermal hydraulic models, and reactivity models. The adaptive control model was presented using Lyapunov method to ensure stable close loop system and STC Generalised Minimum Variance (GMV) Controller was not necessary to know the exact plant transfer function in designing the core power control. The performance between proposed adaptive control and FCA will be compared via computer simulation and analysed the simulation results manifest the effectiveness and the good performance of the proposed control method for core power control.

A modal H∞-norm-based performance requirement for damage-tolerant active controller design

Science.gov (United States)

Genari, Helói F. G.; Mechbal, Nazih; Coffignal, Gérard; Nóbrega, Eurípedes G. O.

2017-04-01

Damage-tolerant active control (DTAC) is a recent research area that encompasses control design methodologies resulting from the application of fault-tolerant control methods to vibration control of structures subject to damage. The possibility of damage occurrence is not usually considered in the active vibration control design requirements. Damage changes the structure dynamics, which may produce unexpected modal behavior of the closed-loop system, usually not anticipated by the controller design approaches. A modal H∞ norm and a respective robust controller design framework were recently introduced, and this method is here extended to face a new DTAC strategy implementation. Considering that damage affects each vibration mode differently, this paper adopts the modal H∞ norm to include damage as a design requirement. The basic idea is to create an appropriate energy distribution over the frequency range of interest and respective vibration modes, guaranteeing robustness, damage tolerance, and adequate overall performance, taking into account that it is common to have previous knowledge of the structure regions where damage may occur during its operational life. For this purpose, a structural health monitoring technique is applied to evaluate modal modifications caused by damage. This information is used to create modal weighing matrices, conducting to the modal H∞ controller design. Finite element models are adopted for a case study structure, including different damage severities, in order to validate the proposed control strategy. Results show the effectiveness of the proposed methodology with respect to damage tolerance.

Enhanced vaccine control of epidemics in adaptive networks

Science.gov (United States)

Shaw, Leah B.; Schwartz, Ira B.

2010-04-01

We study vaccine control for disease spread on an adaptive network modeling disease avoidance behavior. Control is implemented by adding Poisson-distributed vaccination of susceptibles. We show that vaccine control is much more effective in adaptive networks than in static networks due to feedback interaction between the adaptive network rewiring and the vaccine application. When compared to extinction rates in static social networks, we find that the amount of vaccine resources required to sustain similar rates of extinction are as much as two orders of magnitude lower in adaptive networks.

Applications of adaptive filters in active noise control

Science.gov (United States)

Darlington, Paul

The active reduction of acoustic noise is achieved by the addition of a cancelling acoustic signal to the unwanted sound. Successful definition of the cancelling signal amounts to a system identification problem. Recent advances in adaptive signal processing have allowed this problem to be tackled using adaptive filters, which offer significant advantages over conventional solutions. The extension of adaptive noise cancelling techniques, which were developed in the electrical signal conditioning context, to the control of acoustic systems is studied. An analysis is presented of the behavior of the Widrow-Hoff LMS adaptive noise canceller with a linear filter in its control loop. The active control of plane waves propagating axially in a hardwalled duct is used as a motivating model problem. The model problem also motivates the study of the effects of feedback around an LMS adaptive filter. An alternative stochastic gradient algorithm for controlling adaptive filters in the presence of feedback is presented.

Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method

Directory of Open Access Journals (Sweden)

Guoliang Zhao

2013-01-01

Full Text Available This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.

Future Naval Concepts -- Crew Reductions through Improved Damage Control Communications (FNC-CRIDCC)

National Research Council Canada - National Science Library

Street, Thomas T; Williams, Frederick W; Cooper, L. S; Halloway, III, Kenneth E; Rininger, Michael; Miller, Charles; Shirley, Bradley; Genovese, Samuel; Showalter, David; Zak, Stephen

2007-01-01

The object of the Damage Control (DC) Triad program was to develop a Damage Control Communications system, which would be damage tolerant and remain operable in casualty situations where DC communications are vital...

Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

Science.gov (United States)

Frost, Susan A.; Balas, Mark J.

2011-01-01

Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

Design of an adaptive finite-time controller for synchronization of two identical/different non-autonomous chaotic flywheel governor systems

International Nuclear Information System (INIS)

Aghababa Mohammad Pourmahmood

2012-01-01

The centrifugal flywheel governor (CFG) is a mechanical device that automatically controls the speed of an engine and avoids the damage caused by sudden change of load torque. It has been shown that this system exhibits very rich and complex dynamics such as chaos. This paper investigates the problem of robust finite-time synchronization of non-autonomous chaotic CFGs. The effects of unknown parameters, model uncertainties and external disturbances are fully taken into account. First, it is assumed that the parameters of both master and slave CFGs have the same value and a suitable adaptive finite-time controller is designed. Second, two CFGs are synchronized with the parameters of different values via a robust adaptive finite-time control approach. Finally, some numerical simulations are used to demonstrate the effectiveness and robustness of the proposed finite-time controllers. (general)

Adaptive change in corporate control practices.

Science.gov (United States)

Alexander, J A

1991-03-01

Multidivisional organizations are not concerned with what structure to adopt but with how they should exercise control within the divisional form to achieve economic efficiencies. Using an information-processing framework, I examined control arrangements between the headquarters and operating divisions of such organizations and how managers adapted control practices to accommodate increasing environmental uncertainty. Also considered were the moderating effects of contextual attributes on such adaptive behavior. Analyses of panel data from 97 multihospital systems suggested that organizations generally practice selective decentralization under conditions of increasing uncertainty but that organizational age, dispersion, and initial control arrangements significantly moderate the direction and magnitude of such changes.

Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators

DEFF Research Database (Denmark)

Andersen, T.O.; Hansen, M.R.; Conrad, Finn

2004-01-01

control.Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance. The control algorithm decouples and linearizes the manipulator so that each......A method for synthesis of a robust adaptive scheme for a hydraulically driven manipulator, that takes full advantage of any known system dynamics to simplify the adaptive control problem for the unknown portion of the dynamics is presented. The control method is based on adaptive perturbation...

Assessment of anosognosia in persons with frontal lobe damage: clinical utility of the Mayo-Portland Adaptability Inventory (MPAI).

Science.gov (United States)

Murrey, G J; Hale, F M; Williams, J D

2005-08-10

To determine if the Mayo-Portland Adaptability Inventory (MPAI) demonstrates clinical utility in differentiating between persons with severe TBI and frontal lobe damage/anosognosia and persons with mild TBI and no frontal lobe damage. Forty-three persons with TBI and documented frontal lobe damage (mean age = 34; mean time since injury = 5.2 years) and 69 persons with mild TBI and no frontal lobe damage (mean age = 34.3; mean time since injury = 4.8 4.8 years). MPAI. Total inventory and select sub-category difference scores were significantly greater in the frontal lobe group than in the non-frontal lobe group. However, as expected, there was no significant difference between the two groups on the mobility sub-category difference scores. The MPAI appears to be potentially clinically useful in assessing for frontal lobe damage and associated anosognosia in patients with TBI.

Adaptive neural network motion control for aircraft under uncertainty conditions

Science.gov (United States)

Efremov, A. V.; Tiaglik, M. S.; Tiumentsev, Yu V.

2018-02-01

We need to provide motion control of modern and advanced aircraft under diverse uncertainty conditions. This problem can be solved by using adaptive control laws. We carry out an analysis of the capabilities of these laws for such adaptive systems as MRAC (Model Reference Adaptive Control) and MPC (Model Predictive Control). In the case of a nonlinear control object, the most efficient solution to the adaptive control problem is the use of neural network technologies. These technologies are suitable for the development of both a control object model and a control law for the object. The approximate nature of the ANN model was taken into account by introducing additional compensating feedback into the control system. The capabilities of adaptive control laws under uncertainty in the source data are considered. We also conduct simulations to assess the contribution of adaptivity to the behavior of the system.

Feedback control and adaptive control of the energy resource chaotic system

International Nuclear Information System (INIS)

Sun Mei; Tian Lixin; Jiang Shumin; Xu Jun

2007-01-01

In this paper, the problem of control for the energy resource chaotic system is considered. Two different method of control, feedback control (include linear feedback control, non-autonomous feedback control) and adaptive control methods are used to suppress chaos to unstable equilibrium or unstable periodic orbits. The Routh-Hurwitz criteria and Lyapunov direct method are used to study the conditions of the asymptotic stability of the steady states of the controlled system. The designed adaptive controller is robust with respect to certain class of disturbances in the energy resource chaotic system. Numerical simulations are presented to show these results

Adaptive Control Of Remote Manipulator

Science.gov (United States)

Seraji, Homayoun

1989-01-01

Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

A smart rotor configuration with linear quadratic control of adaptive trailing edge flaps for active load alleviation

DEFF Research Database (Denmark)

Bergami, Leonardo; Poulsen, Niels Kjølstad

2015-01-01

The paper proposes a smart rotor configuration where adaptive trailing edge flaps (ATEFs) are employed for active alleviation of the aerodynamic loads on the blades of the NREL 5 MW reference turbine. The flaps extend for 20% of the blade length and are controlled by a linear quadratic (LQ....... The effects of active flap control are assessed with aeroelastic simulations of the turbine in normal operation conditions, as prescribed by the International Electrotechnical Commission standard. The turbine lifetime fatigue damage equivalent loads provide a convenient summary of the results achieved...

Algebraic and adaptive learning in neural control systems

Science.gov (United States)

Ferrari, Silvia

A systematic approach is developed for designing adaptive and reconfigurable nonlinear control systems that are applicable to plants modeled by ordinary differential equations. The nonlinear controller comprising a network of neural networks is taught using a two-phase learning procedure realized through novel techniques for initialization, on-line training, and adaptive critic design. A critical observation is that the gradients of the functions defined by the neural networks must equal corresponding linear gain matrices at chosen operating points. On-line training is based on a dual heuristic adaptive critic architecture that improves control for large, coupled motions by accounting for actual plant dynamics and nonlinear effects. An action network computes the optimal control law; a critic network predicts the derivative of the cost-to-go with respect to the state. Both networks are algebraically initialized based on prior knowledge of satisfactory pointwise linear controllers and continue to adapt on line during full-scale simulations of the plant. On-line training takes place sequentially over discrete periods of time and involves several numerical procedures. A backpropagating algorithm called Resilient Backpropagation is modified and successfully implemented to meet these objectives, without excessive computational expense. This adaptive controller is as conservative as the linear designs and as effective as a global nonlinear controller. The method is successfully implemented for the full-envelope control of a six-degree-of-freedom aircraft simulation. The results show that the on-line adaptation brings about improved performance with respect to the initialization phase during aircraft maneuvers that involve large-angle and coupled dynamics, and parameter variations.

Robust and Adaptive Control With Aerospace Applications

CERN Document Server

Lavretsky, Eugene

2013-01-01

Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems.  The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: ·         case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; ·         detailed background material for each chapter to motivate theoretical developments; ·         realistic examples and simulation data illustrating key features ...

Adaptive Piezoelectric Absorber for Active Vibration Control

Directory of Open Access Journals (Sweden)

Sven Herold

2016-02-01

Full Text Available Passive vibration control solutions are often limited to working reliably at one design point. Especially applied to lightweight structures, which tend to have unwanted vibration, active vibration control approaches can outperform passive solutions. To generate dynamic forces in a narrow frequency band, passive single-degree-of-freedom oscillators are frequently used as vibration absorbers and neutralizers. In order to respond to changes in system properties and/or the frequency of excitation forces, in this work, adaptive vibration compensation by a tunable piezoelectric vibration absorber is investigated. A special design containing piezoelectric stack actuators is used to cover a large tuning range for the natural frequency of the adaptive vibration absorber, while also the utilization as an active dynamic inertial mass actuator for active control concepts is possible, which can help to implement a broadband vibration control system. An analytical model is set up to derive general design rules for the system. An absorber prototype is set up and validated experimentally for both use cases of an adaptive vibration absorber and inertial mass actuator. Finally, the adaptive vibration control system is installed and tested with a basic truss structure in the laboratory, using both the possibility to adjust the properties of the absorber and active control.

Output Feedback Adaptive Control of Non-Minimum Phase Systems Using Optimal Control Modification

Science.gov (United States)

Nguyen, Nhan; Hashemi, Kelley E.; Yucelen, Tansel; Arabi, Ehsan

2018-01-01

This paper describes output feedback adaptive control approaches for non-minimum phase SISO systems with relative degree 1 and non-strictly positive real (SPR) MIMO systems with uniform relative degree 1 using the optimal control modification method. It is well-known that the standard model-reference adaptive control (MRAC) cannot be used to control non-SPR plants to track an ideal SPR reference model. Due to the ideal property of asymptotic tracking, MRAC attempts an unstable pole-zero cancellation which results in unbounded signals for non-minimum phase SISO systems. The optimal control modification can be used to prevent the unstable pole-zero cancellation which results in a stable adaptation of non-minimum phase SISO systems. However, the tracking performance using this approach could suffer if the unstable zero is located far away from the imaginary axis. The tracking performance can be recovered by using an observer-based output feedback adaptive control approach which uses a Luenberger observer design to estimate the state information of the plant. Instead of explicitly specifying an ideal SPR reference model, the reference model is established from the linear quadratic optimal control to account for the non-minimum phase behavior of the plant. With this non-minimum phase reference model, the observer-based output feedback adaptive control can maintain stability as well as tracking performance. However, in the presence of the mismatch between the SPR reference model and the non-minimum phase plant, the standard MRAC results in unbounded signals, whereas a stable adaptation can be achieved with the optimal control modification. An application of output feedback adaptive control for a flexible wing aircraft illustrates the approaches.

Adaptive Control Algorithm of the Synchronous Generator

Directory of Open Access Journals (Sweden)

Shevchenko Victor

2017-01-01

Full Text Available The article discusses the the problem of controlling a synchronous generator, namely, maintaining the stability of the control object in the conditions of occurrence of noise and disturbances in the regulatory process. The model of a synchronous generator is represented by a system of differential equations of Park-Gorev, where state variables are computed relative to synchronously rotating d, q-axis. Management of synchronous generator is proposed to organize on the basis of the position-path control using algorithms to adapt with the reference model. Basic control law directed on the stabilizing indicators the frequency generated by the current and the required power level, which is achieved by controlling the mechanical torque on the shaft of the turbine and the value of the excitation voltage of the synchronous generator. Modification of the classic adaptation algorithm using the reference model, allowing to minimize the error of the reference regulation and the model under investigation within the prescribed limits, produced by means of the introduction of additional variables controller adaptation in the model. Сarried out the mathematical modeling of control provided influence on the studied model of continuous nonlinear and unmeasured the disturbance. Simulation results confirm the high level accuracy of tracking and adaptation investigated model with respect to the reference, and the present value of the loop error depends on parameters performance of regulator.

Adaptive Sliding Mode Control for Hydraulic Drives

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2013-01-01

This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback...... employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved...

Projection Operator: A Step Towards Certification of Adaptive Controllers

Science.gov (United States)

Larchev, Gregory V.; Campbell, Stefan F.; Kaneshige, John T.

2010-01-01

One of the major barriers to wider use of adaptive controllers in commercial aviation is the lack of appropriate certification procedures. In order to be certified by the Federal Aviation Administration (FAA), an aircraft controller is expected to meet a set of guidelines on functionality and reliability while not negatively impacting other systems or safety of aircraft operations. Due to their inherent time-variant and non-linear behavior, adaptive controllers cannot be certified via the metrics used for linear conventional controllers, such as gain and phase margin. Projection Operator is a robustness augmentation technique that bounds the output of a non-linear adaptive controller while conforming to the Lyapunov stability rules. It can also be used to limit the control authority of the adaptive component so that the said control authority can be arbitrarily close to that of a linear controller. In this paper we will present the results of applying the Projection Operator to a Model-Reference Adaptive Controller (MRAC), varying the amount of control authority, and comparing controller s performance and stability characteristics with those of a linear controller. We will also show how adjusting Projection Operator parameters can make it easier for the controller to satisfy the certification guidelines by enabling a tradeoff between controller s performance and robustness.

Adaptation in integrated assessment modeling: where do we stand?

NARCIS (Netherlands)

Patt, A.; van Vuuren, D.P.; Berkhout, F.G.H.; Aaheim, A.; Hof, A.F.; Isaac, M.; Mechler, R.

2010-01-01

Adaptation is an important element on the climate change policy agenda. Integrated assessment models, which are key tools to assess climate change policies, have begun to address adaptation, either by including it implicitly in damage cost estimates, or by making it an explicit control variable. We

Adaptive Controller Design for Continuous Stirred Tank Reactor

OpenAIRE

K. Prabhu; V. Murali Bhaskaran

2014-01-01

Continues Stirred Tank Reactor (CSTR) is an important issue in chemical process and a wide range of research in the area of chemical engineering. Temperature Control of CSTR has been an issue in the chemical control engineering since it has highly non-linear complex equations. This study presents problem of temperature control of CSTR with the adaptive Controller. The Simulation is done in MATLAB and result shows that adaptive controller is an efficient controller for temperature control of C...

Adaptive neuro-fuzzy controller of switched reluctance motor

Directory of Open Access Journals (Sweden)

Tahour Ahmed

2007-01-01

Full Text Available This paper presents an application of adaptive neuro-fuzzy (ANFIS control for switched reluctance motor (SRM speed. The ANFIS has the advantages of expert knowledge of the fuzzy inference system and the learning capability of neural networks. An adaptive neuro-fuzzy controller of the motor speed is then designed and simulated. Digital simulation results show that the designed ANFIS speed controller realizes a good dynamic behaviour of the motor, a perfect speed tracking with no overshoot and a good rejection of impact loads disturbance. The results of applying the adaptive neuro-fuzzy controller to a SRM give better performance and high robustness than those obtained by the application of a conventional controller (PI.

Adaptive control of bifurcation and chaos in a time-delayed system

International Nuclear Information System (INIS)

Li Ning; Zhang Qing-Ling; Yuan Hui-Qun; Sun Hai-Yi

2013-01-01

In this paper, the stabilization of a continuous time-delayed system is considered. To control the bifurcation and chaos in a time-delayed system, a parameter perturbation control and a hybrid control are proposed. Then, to ensure the asymptotic stability of the system in the presence of unexpected system parameter changes, the adaptive control idea is introduced, i.e., the perturbation control parameter and the hybrid control parameter are automatically tuned according to the adaptation laws, respectively. The adaptation algorithms are constructed based on the Lyapunov-Krasovskii stability theorem. The adaptive parameter perturbation control and the adaptive hybrid control methods improve the corresponding constant control methods. They have the advantages of increased stability, adaptability to the changes of the system parameters, control cost saving, and simplicity. Numerical simulations for a well-known chaotic time-delayed system are performed to demonstrate the feasibility and superiority of the proposed control methods. A comparison of the two adaptive control methods is also made in an experimental study

Controlling chaos based on an adaptive adjustment mechanism

International Nuclear Information System (INIS)

Zheng Yongai

2006-01-01

In this paper, we extend the ideas and techniques developed by Huang [Huang W. Stabilizing nonlinear dynamical systems by an adaptive adjustment mechanism. Phys Rev E 2000;61:R1012-5] for controlling discrete-time chaotic system using adaptive adjustment mechanism to continuous-time chaotic system. Two control approaches, namely adaptive adjustment mechanism (AAM) and modified adaptive adjustment mechanism (MAAM), are investigated. In both case sufficient conditions for the stabilization of chaotic systems are given analytically. The simulation results on Chen chaotic system have verified the effectiveness of the proposed techniques

Full Gradient Solution to Adaptive Hybrid Control

Science.gov (United States)

Bean, Jacob; Schiller, Noah H.; Fuller, Chris

2017-01-01

This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

Adaptive fuzzy PID control for a quadrotor stabilisation

Science.gov (United States)

Cherrat, N.; Boubertakh, H.; Arioui, H.

2018-02-01

This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.

Connection adaption for control of networked mobile chaotic agents.

Science.gov (United States)

Zhou, Jie; Zou, Yong; Guan, Shuguang; Liu, Zonghua; Xiao, Gaoxi; Boccaletti, S

2017-11-22

In this paper, we propose a strategy for the control of mobile chaotic oscillators by adaptively rewiring connections between nearby agents with local information. In contrast to the dominant adaptive control schemes where coupling strength is adjusted continuously according to the states of the oscillators, our method does not request adaption of coupling strength. As the resulting interaction structure generated by this proposed strategy is strongly related to unidirectional chains, by investigating synchronization property of unidirectional chains, we reveal that there exists a certain coupling range in which the agents could be controlled regardless of the length of the chain. This feature enables the adaptive strategy to control the mobile oscillators regardless of their moving speed. Compared with existing adaptive control strategies for networked mobile agents, our proposed strategy is simpler for implementation where the resulting interaction networks are kept unweighted at all time.

Adaptive learning fuzzy control of a mobile robot

International Nuclear Information System (INIS)

Tsukada, Akira; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni

1989-11-01

In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

Adaptive mechanism-based congestion control for networked systems

Science.gov (United States)

Liu, Zhi; Zhang, Yun; Chen, C. L. Philip

2013-03-01

In order to assure the communication quality in network systems with heavy traffic and limited bandwidth, a new ATRED (adaptive thresholds random early detection) congestion control algorithm is proposed for the congestion avoidance and resource management of network systems. Different to the traditional AQM (active queue management) algorithms, the control parameters of ATRED are not configured statically, but dynamically adjusted by the adaptive mechanism. By integrating with the adaptive strategy, ATRED alleviates the tuning difficulty of RED (random early detection) and shows a better control on the queue management, and achieve a more robust performance than RED under varying network conditions. Furthermore, a dynamic transmission control protocol-AQM control system using ATRED controller is introduced for the systematic analysis. It is proved that the stability of the network system can be guaranteed when the adaptive mechanism is finely designed. Simulation studies show the proposed ATRED algorithm achieves a good performance in varying network environments, which is superior to the RED and Gentle-RED algorithm, and providing more reliable service under varying network conditions.

Adaptation of cell renewal systems under continuous irradiation

International Nuclear Information System (INIS)

Fabrikant, J.I.

1987-01-01

There are adaptive changes in the proliferative characteristics of renewal tissues under the stress of continuous low-dose-rate irradiation which indicate that cell and tissue kinetics will have a considerable effect on the radiation response. Factors that determine the adaptation response involve cellular radiosensitivity, i.e. cell cycle effects, which determine the rate of cell sterilization and death, and compensatory cell proliferation and the capacity for regeneration, i.e. changes in the patterns of cell population kinetics, which determine the rate of cell birth. In rapidly dividing cell renewal systems, there is an effective elimination of damaged cells, with almost complete repair of cellular nonlethal damage. In slowly dividing renewal tissues, there is some repair or elimination of cellular radiation damage and the pattern of cell proliferation during regeneration is relatively little disturbed by prior continuous irradiation. Experimental data on intestinal epithelium, immunohematopoietic tissues, seminiferous epithelium and regenerating liver are presented. Discussion includes differences in adaptation to continuous low-dose-rate irradiation involving intracellular and extracellular control mechanisms which regulate cellular proliferation and differentiation and, thereby, control cell population levels and physiological function. 29 references

ADEX optimized adaptive controllers and systems from research to industrial practice

CERN Document Server

Martín-Sánchez, Juan M

2015-01-01

This book is a didactic explanation of the developments of predictive, adaptive predictive and optimized adaptive control, including the latest methodology of adaptive predictive expert (ADEX) control, and their practical applications. It is focused on the stability perspective, used in the introduction of these methodologies, and is divided into six parts, with exercises and real-time simulations provided for the reader as appropriate. ADEX Optimized Adaptive Controllers and Systems begins with the conceptual and intuitive knowledge of the technology and derives the stability conditions to be verified by the driver block and the adaptive mechanism of the optimized adaptive controller to guarantee achievement of desired control performance. The second and third parts are centered on the design of the driver block and adaptive mechanism, which verify these stability conditions. The authors then proceed to detail the stability theory that supports predictive, adaptive predictive and optimized adaptive control m...

All-Coefficient Adaptive Control of Dual-Motor Driving Servo System

Directory of Open Access Journals (Sweden)

Zhao Haibo

2017-01-01

Full Text Available Backlash nonlinearity and friction nonlinearity exist in dual-motor driving servo system, which reducing system response speed, steady accuracy and anti-interference ability. In order to diminish the adverse effects of backlash and friction nonlinearity to system, we proposed a new all-coefficient adaptive control method. Firstly, we introduced the dynamic model of backlash and friction nonlinearity respectively. Then on this basis, we established the characteristic model when backlash and friction nonlinearity coexist. We used recursive least square method for parameter estimation. Finally we designed the all-coefficient adaptive controller. On the basis of simplex all-coefficient adaptive controller, we designed a feedforward all-coefficient adaptive controller. The simulations of feedforward all-coefficient adaptive control and simplex all-coefficient adaptive control were compared. The results show that the former has quicker response speed, higher steady accuracy, stronger anti-interference performance and better robustness, which validating the efficacy of the proposed control strategy.

Robust Adaptive Speed Control of Induction Motor Drives

DEFF Research Database (Denmark)

Bidstrup, N.

, (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... adaptive speed control of the CVC drive. A direct truly adaptive speed controller has been implemented. The adaptive controller is a moving Average Self-Tuning Regulator which is abbreviated MASTR throughout the thesis. Two practical implementations of this controller were proposed. They were denoted MASTR...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...

NDE of Damage in Aircraft Flight Control Surfaces

International Nuclear Information System (INIS)

Hsu, David K.; Barnard, Daniel J.; Dayal, Vinay

2007-01-01

Flight control surfaces on an aircraft, such as ailerons, flaps, spoilers and rudders, are typically adhesively bonded composite or aluminum honeycomb sandwich structures. These components can suffer from damage caused by hail stone, runway debris, or dropped tools during maintenance. On composites, low velocity impact damages can escape visual inspection, whereas on aluminum honeycomb sandwich, budding failure of the honeycomb core may or may not be accompanied by a disbond. This paper reports a study of the damage morphology in such structures and the NDE methods for detecting and characterizing them. Impact damages or overload failures in composite sandwiches with Nomex or fiberglass core tend to be a fracture or crinkle or the honeycomb cell wall located a distance below the facesheet-to-core bondline. The damage in aluminum honeycomb is usually a buckling failure, propagating from the top skin downward. The NDE methods used in this work for mapping out these damages were: air-coupled ultrasonic scan, and imaging by computer aided tap tester. Representative results obtained from the field will be shown

Adaptive Control Methods for Soft Robots

Data.gov (United States)

National Aeronautics and Space Administration — I propose to develop methods for soft and inflatable robots that will allow the control system to adapt and change control parameters based on changing conditions...

Disturbance Accommodating Adaptive Control with Application to Wind Turbines

Science.gov (United States)

Frost, Susan

2012-01-01

Adaptive control techniques are well suited to applications that have unknown modeling parameters and poorly known operating conditions. Many physical systems experience external disturbances that are persistent or continually recurring. Flexible structures and systems with compliance between components often form a class of systems that fail to meet standard requirements for adaptive control. For these classes of systems, a residual mode filter can restore the ability of the adaptive controller to perform in a stable manner. New theory will be presented that enables adaptive control with accommodation of persistent disturbances using residual mode filters. After a short introduction to some of the control challenges of large utility-scale wind turbines, this theory will be applied to a high-fidelity simulation of a wind turbine.

Control Systems with Normalized and Covariance Adaptation by Optimal Control Modification

Science.gov (United States)

Nguyen, Nhan T. (Inventor); Burken, John J. (Inventor); Hanson, Curtis E. (Inventor)

2016-01-01

Disclosed is a novel adaptive control method and system called optimal control modification with normalization and covariance adjustment. The invention addresses specifically to current challenges with adaptive control in these areas: 1) persistent excitation, 2) complex nonlinear input-output mapping, 3) large inputs and persistent learning, and 4) the lack of stability analysis tools for certification. The invention has been subject to many simulations and flight testing. The results substantiate the effectiveness of the invention and demonstrate the technical feasibility for use in modern aircraft flight control systems.

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

NARCIS (Netherlands)

Sonneveldt, L.

2010-01-01

The main goal of this thesis is to investigate the potential of the nonlinear adaptive backstepping control technique in combination with online model identification for the design of a reconfigurable flight control system for a modern fighter aircraft. Adaptive backstepping is a recursive,

Adaptive landing gear concept—feedback control validation

Science.gov (United States)

Mikulowski, Grzegorz M.; Holnicki-Szulc, Jan

2007-12-01

The objective of this paper is to present an integrated feedback control concept for adaptive landing gears (ALG) and its experimental validation. Aeroplanes are subjected to high dynamic loads as a result of the impact during each landing. Classical landing gears, which are in common use, are designed in accordance with official regulations in a way that ensures the optimal energy dissipation for the critical (maximum) sink speed. The regulations were formulated in order to ensure the functional capability of the landing gears during an emergency landing. However, the landing gears, whose characteristics are optimized for these critical conditions, do not perform well under normal impact conditions. For that situation it is reasonable to introduce a system that would adapt the characteristics of the landing gears according to the sink speed of landing. The considered system assumes adaptation of the damping force generated by the landing gear, which would perform optimally in an emergency situation and would adapt itself for regular landings as well. This research covers the formulation and design of the control algorithms for an adaptive landing gear based on MR fluid, implementation of the algorithms on an FPGA platform and experimental verification on a lab-scale landing gear device. The main challenge of the research was to develop a control methodology that could operate effectively within 50 ms, which is assumed to be the total duration of the phenomenon. The control algorithm proposed in this research was able to control the energy dissipation process on the experimental stand.

Adaptive Aeroservoelastic Suppression for Aircraft Upset and Damage Conditions, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Impact Technologies, in collaboration with Tennessee State University, propose to develop and demonstrate an adaptive system identification and multi-loop control...

Adaptive pseudolinear compensators of dynamic characteristics of automatic control systems

Science.gov (United States)

Skorospeshkin, M. V.; Sukhodoev, M. S.; Timoshenko, E. A.; Lenskiy, F. V.

2016-04-01

Adaptive pseudolinear gain and phase compensators of dynamic characteristics of automatic control systems are suggested. The automatic control system performance with adaptive compensators has been explored. The efficiency of pseudolinear adaptive compensators in the automatic control systems with time-varying parameters has been demonstrated.

Control of multi-machine using adaptive fuzzy

Directory of Open Access Journals (Sweden)

Bouchiba Bousmaha

2011-01-01

Full Text Available An indirect Adaptive fuzzy excitation control (IAFLC of power systems based on multi-input-multi-output linearization technique is developed in this paper. The power system considered in this paper consists of two generators and infinite bus connected through a network of transformers and transmission lines. The fuzzy controller is constructed from fuzzy feedback linearization controller whose parameters are adjusted indirectly from the estimates of plant parameters. The adaptation law adjusts the controller parameters on-line so that the plant output tracks the reference model output. Simulation results shown that the proposed controller IAFLC, compared with a controller based on tradition linearization technique can enhance the transient stability of the power system.

Adaptive control of manipulators handling hazardous waste

International Nuclear Information System (INIS)

Colbaugh, R.; Glass, K.

1994-01-01

This article focuses on developing a robot control system capable of meeting hazardous waste handling application requirements, and presents as a solution an adaptive strategy for controlling the mechanical impedance of kinematically redundant manipulators. The proposed controller is capable of accurate end-effector impedance control and effective redundancy utilization, does not require knowledge of the complex robot dynamic model or parameter values for the robot or the environment, and is implemented without calculation of the robot inverse transformation. Computer simulation results are given for a four degree of freedom redundant robot under adaptive impedance control. These results indicate that the proposed controller is capable of successfully performing important tasks in robotic waste handling applications. (author) 3 figs., 39 refs

Neural and Fuzzy Adaptive Control of Induction Motor Drives

International Nuclear Information System (INIS)

Bensalem, Y.; Sbita, L.; Abdelkrim, M. N.

2008-01-01

This paper proposes an adaptive neural network speed control scheme for an induction motor (IM) drive. The proposed scheme consists of an adaptive neural network identifier (ANNI) and an adaptive neural network controller (ANNC). For learning the quoted neural networks, a back propagation algorithm was used to automatically adjust the weights of the ANNI and ANNC in order to minimize the performance functions. Here, the ANNI can quickly estimate the plant parameters and the ANNC is used to provide on-line identification of the command and to produce a control force, such that the motor speed can accurately track the reference command. By combining artificial neural network techniques with fuzzy logic concept, a neural and fuzzy adaptive control scheme is developed. Fuzzy logic was used for the adaptation of the neural controller to improve the robustness of the generated command. The developed method is robust to load torque disturbance and the speed target variations when it ensures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the IM designed controller

Adaptive robust control of the EBR-II reactor

International Nuclear Information System (INIS)

Power, M.A.; Edwards, R.M.

1996-01-01

Simulation results are presented for an adaptive H ∞ controller, a fixed H ∞ controller, and a classical controller. The controllers are applied to a simulation of the Experimental Breeder Reactor II primary system. The controllers are tested for the best robustness and performance by step-changing the demanded reactor power and by varying the combined uncertainty in initial reactor power and control rod worth. The adaptive H ∞ controller shows the fastest settling time, fastest rise time and smallest peak overshoot when compared to the fixed H ∞ and classical controllers. This makes for a superior and more robust controller

Adaptive control of a PWR core power using neural networks

International Nuclear Information System (INIS)

Arab-Alibeik, H.; Setayeshi, S.

2005-01-01

Reactor power control is important because of safety concerns and the call for regular and appropriate operation of nuclear power plants. It seems that the load-follow operation of these plants will be unavoidable in the future. Discrepancies between the real plant and the model used in controller design for load-follow operation encourage one to use auto-tuning and (or) adaptive techniques. Neural network technology shows great promise for addressing many problems in non-model-based adaptive control methods. Also, there has been a great attention to inverse control especially in the neural and fuzzy control context. Fortunately, online adaptation eliminates some limitations of inverse control and its shortcomings for real world applications. We use a neural adaptive inverse controller to control the power of a PWR reactor. The stability of the system and convergence of the controller parameters are guaranteed during online adaptation phase provided the controller is near the plant's real inverse after offline training period. The performance of the controller is verified using nonlinear simulations in diverse operating conditions

Verification and Validation Challenges for Adaptive Flight Control of Complex Autonomous Systems

Science.gov (United States)

Nguyen, Nhan T.

2018-01-01

Autonomy of aerospace systems requires the ability for flight control systems to be able to adapt to complex uncertain dynamic environment. In spite of the five decades of research in adaptive control, the fact still remains that currently no adaptive control system has ever been deployed on any safety-critical or human-rated production systems such as passenger transport aircraft. The problem lies in the difficulty with the certification of adaptive control systems since existing certification methods cannot readily be used for nonlinear adaptive control systems. Research to address the notion of metrics for adaptive control began to appear in the recent years. These metrics, if accepted, could pave a path towards certification that would potentially lead to the adoption of adaptive control as a future control technology for safety-critical and human-rated production systems. Development of certifiable adaptive control systems represents a major challenge to overcome. Adaptive control systems with learning algorithms will never become part of the future unless it can be proven that they are highly safe and reliable. Rigorous methods for adaptive control software verification and validation must therefore be developed to ensure that adaptive control system software failures will not occur, to verify that the adaptive control system functions as required, to eliminate unintended functionality, and to demonstrate that certification requirements imposed by regulatory bodies such as the Federal Aviation Administration (FAA) can be satisfied. This presentation will discuss some of the technical issues with adaptive flight control and related V&V challenges.

Adaptive piezoelectric sensoriactuators for active structural acoustic control

Science.gov (United States)

Vipperman, Jeffrey Stuart

1997-09-01

A new transducer technology with application to active control systems, modal analysis, and autonomous system health monitoring, is brought to fruition in this work. It has the advantages of being lightweight, potentially cost-effective, self-tuning, has negligible dynamics, and most importantly (from a robustness perspective), it provides a colocated sensor/actuator pair. The transducer consists of a piezoceramic element which serves as both an actuator and a sensor and will be referred to in this work as a sensoriactuator. Simple, adaptive signal processing in conjunction with a voltage controlled amplifier, reference capacitor, and a common-mode rejection circuit extract the mechanical response from the total response of the piezoelectric sensoriactuator for sensing. The digital portion of the adaptive piezoelectric sensoriactuator merely serves to tune the circuit, avoiding the potentially destabilizing effects of introducing a digital delay in the signal path, when used for feedback control applications. Adaptive compensation of the sensoriactuator is necessary since the signal to noise ratio is typically greater than 40 dB, making it prohibitive to tune the circuit manually. In addition, the constitutive properties of piezoceramics vary with time and environment, necessitating that the circuit be periodically re-tuned. The analog portion of the hardware is based upon op-amp circuits and an AD632 analog multiplier chip, which serves as both a voltage controlled amplifier (VCA) and a common mode rejection (CMR) circuit. A single coefficient least-mean square (LMS) adaptive filter continuously adjusts the gain of the VCA circuit as necessary. Nonideal behavior of piezoceramics is discussed along with methods to counter the consequential deterioration in circuit performance. A multiple input multiple output (MIMO) implementation of the adaptive piezoelectric sensoriactuator is developed using orthogonal white noise training signals for each sensoriactuator. Two

An Adaptive Speed Control Approach for DC Shunt Motors

Directory of Open Access Journals (Sweden)

Ruben Tapia-Olvera

2016-11-01

Full Text Available A B-spline neural networks-based adaptive control technique for angular speed reference trajectory tracking tasks with highly efficient performance for direct current shunt motors is proposed. A methodology for adaptive control and its proper training procedure are introduced. This algorithm sets the control signal without using a detailed mathematical model nor exact values of the parameters of the nonlinear dynamic system. The proposed robust adaptive tracking control scheme only requires measurements of the velocity output signal. Thus, real-time measurements or estimations of acceleration, current and disturbance signals are avoided. Experimental results confirm the efficient and robust performance of the proposed control approach for highly demanding motor operation conditions exposed to variable-speed reference trajectories and completely unknown load torque. Hence, laboratory experimental tests on a direct current shunt motor prove the viability of the proposed adaptive output feedback trajectory tracking control approach.

Adaptive Critic Nonlinear Robust Control: A Survey.

Science.gov (United States)

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

Adaptive dynamic programming (ADP) and reinforcement learning are quite relevant to each other when performing intelligent optimization. They are both regarded as promising methods involving important components of evaluation and improvement, at the background of information technology, such as artificial intelligence, big data, and deep learning. Although great progresses have been achieved and surveyed when addressing nonlinear optimal control problems, the research on robustness of ADP-based control strategies under uncertain environment has not been fully summarized. Hence, this survey reviews the recent main results of adaptive-critic-based robust control design of continuous-time nonlinear systems. The ADP-based nonlinear optimal regulation is reviewed, followed by robust stabilization of nonlinear systems with matched uncertainties, guaranteed cost control design of unmatched plants, and decentralized stabilization of interconnected systems. Additionally, further comprehensive discussions are presented, including event-based robust control design, improvement of the critic learning rule, nonlinear H ∞ control design, and several notes on future perspectives. By applying the ADP-based optimal and robust control methods to a practical power system and an overhead crane plant, two typical examples are provided to verify the effectiveness of theoretical results. Overall, this survey is beneficial to promote the development of adaptive critic control methods with robustness guarantee and the construction of higher level intelligent systems.

Fault diagnosis and fault-tolerant control based on adaptive control approach

CERN Document Server

Shen, Qikun; Shi, Peng

2017-01-01

This book provides recent theoretical developments in and practical applications of fault diagnosis and fault tolerant control for complex dynamical systems, including uncertain systems, linear and nonlinear systems. Combining adaptive control technique with other control methodologies, it investigates the problems of fault diagnosis and fault tolerant control for uncertain dynamic systems with or without time delay. As such, the book provides readers a solid understanding of fault diagnosis and fault tolerant control based on adaptive control technology. Given its depth and breadth, it is well suited for undergraduate and graduate courses on linear system theory, nonlinear system theory, fault diagnosis and fault tolerant control techniques. Further, it can be used as a reference source for academic research on fault diagnosis and fault tolerant control, and for postgraduates in the field of control theory and engineering. .

Bayesian nonparametric adaptive control using Gaussian processes.

Science.gov (United States)

Chowdhary, Girish; Kingravi, Hassan A; How, Jonathan P; Vela, Patricio A

2015-03-01

Most current model reference adaptive control (MRAC) methods rely on parametric adaptive elements, in which the number of parameters of the adaptive element are fixed a priori, often through expert judgment. An example of such an adaptive element is radial basis function networks (RBFNs), with RBF centers preallocated based on the expected operating domain. If the system operates outside of the expected operating domain, this adaptive element can become noneffective in capturing and canceling the uncertainty, thus rendering the adaptive controller only semiglobal in nature. This paper investigates a Gaussian process-based Bayesian MRAC architecture (GP-MRAC), which leverages the power and flexibility of GP Bayesian nonparametric models of uncertainty. The GP-MRAC does not require the centers to be preallocated, can inherently handle measurement noise, and enables MRAC to handle a broader set of uncertainties, including those that are defined as distributions over functions. We use stochastic stability arguments to show that GP-MRAC guarantees good closed-loop performance with no prior domain knowledge of the uncertainty. Online implementable GP inference methods are compared in numerical simulations against RBFN-MRAC with preallocated centers and are shown to provide better tracking and improved long-term learning.

Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

Directory of Open Access Journals (Sweden)

Wenjie Lou

2016-02-01

Full Text Available Inaccurate system parameters and unpredicted external disturbances affect the performance of non-linear controllers. In this paper, a new adaptive control algorithm under the reinforcement framework is proposed to stabilize a quadrotor helicopter. Based on a command-filtered non-linear control algorithm, adaptive elements are added and learned by policy-search methods. To predict the inaccurate system parameters, a new kernel-based regression learning method is provided. In addition, Policy learning by Weighting Exploration with the Returns (PoWER and Return Weighted Regression (RWR are utilized to learn the appropriate parameters for adaptive elements in order to cancel the effect of external disturbance. Furthermore, numerical simulations under several conditions are performed, and the ability of adaptive trajectory-tracking control with reinforcement learning are demonstrated.

Adaptation in integrated assessment modeling: where do we stand?

OpenAIRE

Patt, A.; van Vuuren, D.P.; Berkhout, F.G.H.; Aaheim, A.; Hof, A.F.; Isaac, M.; Mechler, R.

2010-01-01

Adaptation is an important element on the climate change policy agenda. Integrated assessment models, which are key tools to assess climate change policies, have begun to address adaptation, either by including it implicitly in damage cost estimates, or by making it an explicit control variable. We analyze how modelers have chosen to describe adaptation within an integrated framework, and suggest many ways they could improve the treatment of adaptation by considering more of its bottom-up cha...

The assessment of damages due to climate change in a situation of uncertainty: the contribution of adaptation cost modelling

International Nuclear Information System (INIS)

Dumas, P.

2006-01-01

The aim of this research is to introduce new elements for the assessment of damages due to climate changes within the frame of compact models aiding the decision. Two types of methodologies are used: sequential optimisation stochastic models and simulation stochastic models using optimal assessment methods. The author first defines the damages, characterizes their different categories, and reviews the existing assessments. Notably, he makes the distinction between damages due to climate change and damages due to its rate. Then, he presents the different models used in this study, the numerical solutions, and gives a rough estimate of the importance of the considered phenomena. By introducing a new category of capital in an optimal growth model, he tries to establish a framework allowing the representation of adaptation and of its costs. He introduces inertia in macro-economical evolutions, climatic variability, detection of climate change and damages due to climate hazards

Design of adaptive switching control for hypersonic aircraft

Directory of Open Access Journals (Sweden)

Xin Jiao

2015-10-01

Full Text Available This article proposes a novel adaptive switching control of hypersonic aircraft based on type-2 Takagi–Sugeno–Kang fuzzy sliding mode control and focuses on the problem of stability and smoothness in the switching process. This method uses full-state feedback to linearize the nonlinear model of hypersonic aircraft. Combining the interval type-2 Takagi–Sugeno–Kang fuzzy approach with sliding mode control keeps the adaptive switching process stable and smooth. For rapid stabilization of the system, the adaptive laws use a direct constructive Lyapunov analysis together with an established type-2 Takagi–Sugeno–Kang fuzzy logic system. Simulation results indicate that the proposed control scheme can maintain the stability and smoothness of switching process for the hypersonic aircraft.

An Adaptive Supervisory Sliding Fuzzy Cerebellar Model Articulation Controller for Sensorless Vector-Controlled Induction Motor Drive Systems

Directory of Open Access Journals (Sweden)

Shun-Yuan Wang

2015-03-01

Full Text Available This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC in the speed sensorless vector control of an induction motor (IM drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes.

Hybrid adaptive ascent flight control for a flexible launch vehicle

Science.gov (United States)

Lefevre, Brian D.

For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter

Directory of Open Access Journals (Sweden)

Nguyen Ngoc Son

2014-10-01

Full Text Available This paper introduces an adaptive backstepping control law for a two-wheel electric scooter (eScooter with a nonlinear uncertain model. Adaptive backstepping control is integrated with feedback control that satisfies Lyapunov stability. By using the recursive structure to find the controlled function and estimate uncertain parameters, an adaptive backstepping method allows us to build a feedback control law that efficiently controls a self-balancing controller of the eScooter. Additionally, a controller area network (CAN bus with high reliability is applied for communicating between the modules of the eScooter. Simulation and experimental results demonstrate the robustness and good performance of the proposed adaptive backstepping control.

Adaptive feedforward in the LANL rf control system

International Nuclear Information System (INIS)

Ziomek, C.D.

1992-01-01

This paper describes an adaptive feedforward system that corrects repetitive errors in the amplitude and phase of the RF field of a pulsed accelerator. High-frequency disturbances that are beyond the effective bandwidth of the RF field feedback control system can be eliminated with a feedforward system. Many RF field disturbances for a pulsed accelerator are repetitive, occurring at the same relative time in every pulse. This design employs digital signal processing hardware to adaptively determine and track the control signals required to eliminate the repetitive errors in the feedback control system. In order to provide the necessary high-frequency response, the adaptive feedforward hardware provides the calculated control signal prior to the repetitive disturbance that it corrects. This system has been demonstrated to reduce the transient disturbances caused by beam pulses. Furthermore, it has been shown to negate high-frequency phase and amplitude oscillations in a high-power klystron amplifier caused by PFN ripple on the high-voltage. The design and results of the adaptive feedforward system are presented

Adaptive nonlinear control using input normalized neural networks

International Nuclear Information System (INIS)

Leeghim, Henzeh; Seo, In Ho; Bang, Hyo Choong

2008-01-01

An adaptive feedback linearization technique combined with the neural network is addressed to control uncertain nonlinear systems. The neural network-based adaptive control theory has been widely studied. However, the stability analysis of the closed-loop system with the neural network is rather complicated and difficult to understand, and sometimes unnecessary assumptions are involved. As a result, unnecessary assumptions for stability analysis are avoided by using the neural network with input normalization technique. The ultimate boundedness of the tracking error is simply proved by the Lyapunov stability theory. A new simple update law as an adaptive nonlinear control is derived by the simplification of the input normalized neural network assuming the variation of the uncertain term is sufficiently small

Adaptive slope compensation for high bandwidth digital current mode controller

DEFF Research Database (Denmark)

Taeed, Fazel; Nymand, Morten

2015-01-01

An adaptive slope compensation method for digital current mode control of dc-dc converters is proposed in this paper. The compensation slope is used for stabilizing the inner current loop in peak current mode control. In this method, the compensation slope is adapted with the variations...... in converter duty cycle. The adaptive slope compensation provides optimum controller operation in term of bandwidth over wide range of operating points. In this paper operation principle of the controller is discussed. The proposed controller is implemented in an FPGA to control a 100 W buck converter...

Adaptive fuzzy controller based MPPT for photovoltaic systems

International Nuclear Information System (INIS)

Guenounou, Ouahib; Dahhou, Boutaib; Chabour, Ferhat

2014-01-01

Highlights: • We propose a fuzzy controller with adaptive output scaling factor as a maximum power point tracker of photovoltaic system. • The proposed controller integrates two different rule bases defined on error and change of error. • Our controller can track the maximum power point with better performances when compared to its conventional counterpart. - Abstract: This paper presents an intelligent approach to optimize the performances of photovoltaic systems. The system consists of a PV panel, a DC–DC boost converter, a maximum power point tracker controller and a resistive load. The key idea of the proposed approach is the use of a fuzzy controller with an adaptive gain as a maximum power point tracker. The proposed controller integrates two different rule bases. The first is used to adjust the duty cycle of the boost converter as in the case of a conventional fuzzy controller while the second rule base is designed for an online adjusting of the controller’s gain. The performances of the adaptive fuzzy controller are compared with those obtained using a conventional fuzzy controllers with different gains and in each case, the proposed controller outperforms its conventional counterpart

Aircraft Attitude Distributed Fault-tolerant Control Based on Dynamic Actuator

Directory of Open Access Journals (Sweden)

Zhou Hong-Cheng

2014-09-01

Full Text Available For attitude control system, based on decentralized fault-tolerant control framework, actuators damage and stuck fault detection and identification unit are designed for the flight control system. And observer-based auxiliary system unit is also designed. The auxiliary system implies control surface damage faults and disturbances information. Firstly, we give the attitude control system under actuator stuck, lose of effectiveness, and control surface damages faults. Secondly, a multi-observer is designed for actuator fault detection and identification using a decision-making mechanism to determine current actuator failure modes. Then, an adaptive sliding mode observer is designed for implicit control surface damages and interference information. The reconfigurable controller can achieve fault tolerant using the information of adaptive sliding mode observer. Finally, the simulation results show the effectiveness of the proposed method.

Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure

Directory of Open Access Journals (Sweden)

Ashraf Ahmed Fahmy

2014-03-01

Full Text Available This paper presents an adaptive functional-based Neuro-fuzzy-PID incremental (NFPID controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral function for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation.  Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using Bees Algorithm, and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA type robot arm.

Tracking Control of Hysteretic Piezoelectric Actuator using Adaptive Rate-Dependent Controller.

Science.gov (United States)

Tan, U-Xuan; Latt, Win Tun; Widjaja, Ferdinan; Shee, Cheng Yap; Riviere, Cameron N; Ang, Wei Tech

2009-03-16

With the increasing popularity of actuators involving smart materials like piezoelectric, control of such materials becomes important. The existence of the inherent hysteretic behavior hinders the tracking accuracy of the actuators. To make matters worse, the hysteretic behavior changes with rate. One of the suggested ways is to have a feedforward controller to linearize the relationship between the input and output. Thus, the hysteretic behavior of the actuator must first be modeled by sensing the relationship between the input voltage and output displacement. Unfortunately, the hysteretic behavior is dependent on individual actuator and also environmental conditions like temperature. It is troublesome and costly to model the hysteresis regularly. In addition, the hysteretic behavior of the actuators also changes with age. Most literature model the actuator using a cascade of rate-independent hysteresis operators and a dynamical system. However, the inertial dynamics of the structure is not the only contributing factor. A complete model will be complex. Thus, based on the studies done on the phenomenological hysteretic behavior with rate, this paper proposes an adaptive rate-dependent feedforward controller with Prandtl-Ishlinskii (PI) hysteresis operators for piezoelectric actuators. This adaptive controller is achieved by adapting the coefficients to manipulate the weights of the play operators. Actual experiments are conducted to demonstrate the effectiveness of the adaptive controller. The main contribution of this paper is its ability to perform tracking control of non-periodic motion and is illustrated with the tracking control ability of a couple of different non-periodic waveforms which were created by passing random numbers through a low pass filter with a cutoff frequency of 20Hz.

Development of adaptive control applied to chaotic systems

Science.gov (United States)

Rhode, Martin Andreas

1997-12-01

Continuous-time derivative control and adaptive map-based recursive feedback control techniques are used to control chaos in a variety of systems and in situations that are of practical interest. The theoretical part of the research includes the review of fundamental concept of control theory in the context of its applications to deterministic chaotic systems, the development of a new adaptive algorithm to identify the linear system properties necessary for control, and the extension of the recursive proportional feedback control technique, RPF, to high dimensional systems. Chaos control was applied to models of a thermal pulsed combustor, electro-chemical dissolution and the hyperchaotic Rossler system. Important implications for combustion engineering were suggested by successful control of the model of the thermal pulsed combustor. The system was automatically tracked while maintaining control into regions of parameter and state space where no stable attractors exist. In a simulation of the electrochemical dissolution system, application of derivative control to stabilize a steady state, and adaptive RPF to stabilize a period one orbit, was demonstrated. The high dimensional adaptive control algorithm was applied in a simulation using the Rossler hyperchaotic system, where a period-two orbit with two unstable directions was stabilized and tracked over a wide range of a system parameter. In the experimental part, the electrochemical system was studied in parameter space, by scanning the applied potential and the frequency of the rotating copper disk. The automated control algorithm is demonstrated to be effective when applied to stabilize a period-one orbit in the experiment. We show the necessity of small random perturbations applied to the system in order to both learn the dynamics and control the system at the same time. The simultaneous learning and control capability is shown to be an important part of the active feedback control.

Design of L1 -Adaptive Controller for Single Axis Positioning Table

Directory of Open Access Journals (Sweden)

Amjad Jalil Humaidi

2017-11-01

Full Text Available L1 adaptive controller has proven to provide fast adaptation with guaranteed transients in a large variety of systems. It is commonly used for controlling systems with uncertain time-varying unknown parameters. The effectiveness of L1 adaptive controller for position control of single axis has been examined and compared with Model Reference Adaptive Controller (MRAC. The Linear servo motor is one of the main constituting elements of the x-y table which is mostly used in automation application. It is characterized by time-varying friction and disturbance

Adaptive traffic control systems for urban networks

Directory of Open Access Journals (Sweden)

Radivojević Danilo

2017-01-01

Full Text Available Adaptive traffic control systems represent complex, but powerful tool for improvement of traffic flow conditions in locations or zones where applied. Many traffic agencies, especially those that have a large number of signalized intersections with high variability of the traffic demand, choose to apply some of the adaptive traffic control systems. However, those systems are manufactured and offered by multiple vendors (companies that are competing for the market share. Due to that fact, besides the information available from the vendors themselves, or the information from different studies conducted on different continents, very limited amount of information is available about the details how those systems are operating. The reason for that is the protecting of the intellectual property from plagiarism. The primary goal of this paper is to make a brief analysis of the functionalities, characteristics, abilities and results of the most recognized, but also less known adaptive traffic control systems to the professional public and other persons with interest in this subject.

Discrete Model Reference Adaptive Control System for Automatic Profiling Machine

Directory of Open Access Journals (Sweden)

Peng Song

2012-01-01

Full Text Available Automatic profiling machine is a movement system that has a high degree of parameter variation and high frequency of transient process, and it requires an accurate control in time. In this paper, the discrete model reference adaptive control system of automatic profiling machine is discussed. Firstly, the model of automatic profiling machine is presented according to the parameters of DC motor. Then the design of the discrete model reference adaptive control is proposed, and the control rules are proven. The results of simulation show that adaptive control system has favorable dynamic performances.

Application of adaptive fuzzy control technology to pressure control of a pressurizer

Institute of Scientific and Technical Information of China (English)

YANG Ben-kun; BIAN Xin-qian; GUO Wei-lai

2005-01-01

A pressurizer is one of important equipment in a pressurized water reactor plant. It is used to maintain the pressure of primary coolant within allowed range because the sharp change of coolant pressure affects the security of reactor,therefor,the study of pressurizer's pressure control methods is very important. In this paper, an adaptive fuzzy controller is presented for pressure control of a pressurizer in a nuclear power plant. The controller can on-line tune fuzzy control rules and parameters by self-learning in the actual control process, which possesses the way of thinking like human to make a decision. The simulation results for a pressurized water reactor plant show that the adaptive fuzzy controller has optimum and intelligent characteristics, which prove the controller is effective.

Control uncertain Genesio-Tesi chaotic system: Adaptive sliding mode approach

International Nuclear Information System (INIS)

Dadras, Sara; Momeni, Hamid Reza

2009-01-01

An adaptive sliding mode control (ASMC) technique is introduced in this paper for a chaotic dynamical system (Genesio-Tesi system). Using the sliding mode control technique, a sliding surface is determined and the control law is established. An adaptive sliding mode control law is derived to make the states of the Genesio-Tesi system asymptotically track and regulate the desired state. The designed control scheme can control the uncertain chaotic behaviors to a desired state without oscillating very fast and guarantee the property of asymptotical stability. An illustrative simulation result is given to demonstrate the effectiveness of the proposed adaptive sliding mode control design.

Online Adaptation and Over-Trial Learning in Macaque Visuomotor Control

Science.gov (United States)

Braun, Daniel A.; Aertsen, Ad; Paz, Rony; Vaadia, Eilon; Rotter, Stefan; Mehring, Carsten

2011-01-01

When faced with unpredictable environments, the human motor system has been shown to develop optimized adaptation strategies that allow for online adaptation during the control process. Such online adaptation is to be contrasted to slower over-trial learning that corresponds to a trial-by-trial update of the movement plan. Here we investigate the interplay of both processes, i.e., online adaptation and over-trial learning, in a visuomotor experiment performed by macaques. We show that simple non-adaptive control schemes fail to perform in this task, but that a previously suggested adaptive optimal feedback control model can explain the observed behavior. We also show that over-trial learning as seen in learning and aftereffect curves can be explained by learning in a radial basis function network. Our results suggest that both the process of over-trial learning and the process of online adaptation are crucial to understand visuomotor learning. PMID:21720526

Policy Gradient Adaptive Dynamic Programming for Data-Based Optimal Control.

Science.gov (United States)

Luo, Biao; Liu, Derong; Wu, Huai-Ning; Wang, Ding; Lewis, Frank L

2017-10-01

The model-free optimal control problem of general discrete-time nonlinear systems is considered in this paper, and a data-based policy gradient adaptive dynamic programming (PGADP) algorithm is developed to design an adaptive optimal controller method. By using offline and online data rather than the mathematical system model, the PGADP algorithm improves control policy with a gradient descent scheme. The convergence of the PGADP algorithm is proved by demonstrating that the constructed Q -function sequence converges to the optimal Q -function. Based on the PGADP algorithm, the adaptive control method is developed with an actor-critic structure and the method of weighted residuals. Its convergence properties are analyzed, where the approximate Q -function converges to its optimum. Computer simulation results demonstrate the effectiveness of the PGADP-based adaptive control method.

Adaptive Non-linear Control of Hydraulic Actuator Systems

DEFF Research Database (Denmark)

Hansen, Poul Erik; Conrad, Finn

1998-01-01

Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

Adaptive control for accelerators

International Nuclear Information System (INIS)

Eaton, L.E.; Jachim, S.P.; Natter, E.F.

1991-01-01

This patent describes an adaptive feedforward control loop is provided to stabilize accelerator beam loading of the radio frequency field in an accelerator cavity during successive pulses of the beam into the cavity. A digital signal processor enables an adaptive algorithm to generate a feedforward error correcting signal functionally determined by the feedback error obtained by a beam pulse loading the cavity after the previous correcting signal was applied to the cavity. Each cavity feedforward correcting signal is successively stored in the digital processor and modified by the feedback error resulting from its application to generate the next feedforward error correcting signal. A feedforward error correcting signal is generated by the digital processor in advance of the beam pulse to enable a composite correcting signal and the beam pulse to arrive concurrently at the cavity

Adaptive control for accelerators

Science.gov (United States)

Eaton, Lawrie E.; Jachim, Stephen P.; Natter, Eckard F.

1991-01-01

An adaptive feedforward control loop is provided to stabilize accelerator beam loading of the radio frequency field in an accelerator cavity during successive pulses of the beam into the cavity. A digital signal processor enables an adaptive algorithm to generate a feedforward error correcting signal functionally determined by the feedback error obtained by a beam pulse loading the cavity after the previous correcting signal was applied to the cavity. Each cavity feedforward correcting signal is successively stored in the digital processor and modified by the feedback error resulting from its application to generate the next feedforward error correcting signal. A feedforward error correcting signal is generated by the digital processor in advance of the beam pulse to enable a composite correcting signal and the beam pulse to arrive concurrently at the cavity.

Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

Science.gov (United States)

2007-11-01

Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

Risk based decision aid for damage control

NARCIS (Netherlands)

Meesters, J.L.; Keijer, W.; Gillis, M.P.W.

2003-01-01

The current trend in ship design is to reduce the crew. Special attention should be paid to damage control, which is a labour intensive task. Having less crew members implies that more tasks have to be automated. It also means a reduction of the available 'human sensors’, which leads to difficulties

Adaptive Robot Control – An Experimental Comparison

Directory of Open Access Journals (Sweden)

Francesco Alonge

2012-11-01

Full Text Available This paper deals with experimental comparison between stable adaptive controllers of robotic manipulators based on Model Based Adaptive, Neural Network and Wavelet -Based control. The above control methods were compared with each other in terms of computational efficiency, need for accurate mathematical model of the manipulator and tracking performances. An original management algorithm of the Wavelet Network control scheme has been designed, with the aim of constructing the net automatically during the trajectory tracking, without the need to tune it to the trajectory itself. Experimental tests, carried out on a planar two link manipulator, show that the Wavelet-Based control scheme, with the new management algorithm, outperforms the conventional Model-Based schemes in the presence of structural uncertainties in the mathematical model of the robot, without pre-training and more efficiently than the Neural Network approach.

Adaptive control of solar energy collector systems

CERN Document Server

Lemos, João M; Igreja, José M

2014-01-01

This book describes methods for adaptive control of distributed-collector solar fields: plants that collect solar energy and deliver it in thermal form. Controller design methods are presented that can overcome difficulties found in these type of plants:they are distributed-parameter systems, i.e., systems with dynamics that depend on space as well as time;their dynamics is nonlinear, with a bilinear structure;there is a significant level of uncertainty in plant knowledge.Adaptive methods form the focus of the text because of the degree of uncertainty in the knowledge of plant dynamics. Parts

Model reference adaptive control and adaptive stability augmentation

DEFF Research Database (Denmark)

Henningsen, Arne; Ravn, Ole

1993-01-01

A comparison of the standard concepts in MRAC design suggests that a combination of the implicit and the explicit design techniques may lead to an improvement of the overall system performance in the presence of unmodelled dynamics. Using the ideas of adaptive stability augmentation a combined...... stability augmented model reference design is proposed. By utilizing the closed-loop control error, a simple auxiliary controller is tuned, using a normalized MIT rule for the parameter adjustment. The MIT adjustment is protected against the effects of unmodelled dynamics by lowpass filtering...... of the gradient. The proposed method is verified through simulation results indicating that the method may lead to an improvement of the model reference controller in the presence of unmodelled dynamics...

Adaptive neuro-fuzzy control of ionic polymer metal composite actuators

International Nuclear Information System (INIS)

Thinh, Nguyen Truong; Yang, Young-Soo; Oh, Il-Kwon

2009-01-01

An adaptive neuro-fuzzy controller was newly designed to overcome the degradation of the actuation performance of ionic polymer metal composite actuators that show highly nonlinear responses such as a straightening-back problem under a step excitation. An adaptive control algorithm with the merits of fuzzy logic and neural networks was applied for controlling the tip displacement of the ionic polymer metal composite actuators. The reference and actual displacements and the change of the error with the electrical inputs were recorded to generate the training data. These data were used for training the adaptive neuro-fuzzy controller to find the membership functions in the fuzzy control algorithm. Software simulation and real-time experiments were conducted by using the Simulink and dSPACE environments. Present results show that the current adaptive neuro-fuzzy controller can be successfully applied to the reliable control of the ionic polymer metal composite actuator for which the performance degrades under long-time actuation

Functional Dual Adaptive Control with Recursive Gaussian Process Model

International Nuclear Information System (INIS)

Prüher, Jakub; Král, Ladislav

2015-01-01

The paper deals with dual adaptive control problem, where the functional uncertainties in the system description are modelled by a non-parametric Gaussian process regression model. Current approaches to adaptive control based on Gaussian process models are severely limited in their practical applicability, because the model is re-adjusted using all the currently available data, which keeps growing with every time step. We propose the use of recursive Gaussian process regression algorithm for significant reduction in computational requirements, thus bringing the Gaussian process-based adaptive controllers closer to their practical applicability. In this work, we design a bi-criterial dual controller based on recursive Gaussian process model for discrete-time stochastic dynamic systems given in an affine-in-control form. Using Monte Carlo simulations, we show that the proposed controller achieves comparable performance with the full Gaussian process-based controller in terms of control quality while keeping the computational demands bounded. (paper)

L(sub 1) Adaptive Flight Control System: Flight Evaluation and Technology Transition

Science.gov (United States)

Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Isaac; Gregory, Irene M.; Cao, Chengyu

2010-01-01

Certification of adaptive control technologies for both manned and unmanned aircraft represent a major challenge for current Verification and Validation techniques. A (missing) key step towards flight certification of adaptive flight control systems is the definition and development of analysis tools and methods to support Verification and Validation for nonlinear systems, similar to the procedures currently used for linear systems. In this paper, we describe and demonstrate the advantages of L(sub l) adaptive control architectures for closing some of the gaps in certification of adaptive flight control systems, which may facilitate the transition of adaptive control into military and commercial aerospace applications. As illustrative examples, we present the results of a piloted simulation evaluation on the NASA AirSTAR flight test vehicle, and results of an extensive flight test program conducted by the Naval Postgraduate School to demonstrate the advantages of L(sub l) adaptive control as a verifiable robust adaptive flight control system.

Controlling smart grid adaptivity

OpenAIRE

Toersche, Hermen; Nykamp, Stefan; Molderink, Albert; Hurink, Johann L.; Smit, Gerardus Johannes Maria

2012-01-01

Methods are discussed for planning oriented smart grid control to cope with scenarios with limited predictability, supporting an increasing penetration of stochastic renewable resources. The performance of these methods is evaluated with simulations using measured wind generation and consumption data. Forecast errors are shown to affect worst case behavior in particular, the severity of which depends on the chosen adaptivity strategy and error model.

PI controller based model reference adaptive control for nonlinear

African Journals Online (AJOL)

user

Keywords: Model Reference Adaptive Controller (MRAC), Artificial Neural ... attention, and many new approaches have been applied to practical process .... effectiveness of proposed method, it is compared with the simulation results of the ...

An adaptive unscented Kalman filter-based adaptive tracking control for wheeled mobile robots with control constrains in the presence of wheel slipping

Directory of Open Access Journals (Sweden)

Mingyue Cui

2016-09-01

Full Text Available A novel control approach is proposed for trajectory tracking of a wheeled mobile robot with unknown wheels’ slipping. The longitudinal and lateral slipping are considered and processed as three time-varying parameters. The adaptive unscented Kalman filter is then designed to estimate the slipping parameters online, an adaptive adjustment of the noise covariances in the estimation process is implemented using a technique of covariance matching in the adaptive unscented Kalman filter context. Considering the practical physical constrains, a stable tracking control law for this robot system is proposed by the backstepping method. Asymptotic stability is guaranteed by Lyapunov stability theory. Control gains are determined online by applying pole placement method. Simulation and real experiment results show the effectiveness and robustness of the proposed control method.

Indirect adaptive control of discrete chaotic systems

International Nuclear Information System (INIS)

Salarieh, Hassan; Shahrokhi, Mohammad

2007-01-01

In this paper an indirect adaptive control algorithm is proposed to stabilize the fixed points of discrete chaotic systems. It is assumed that the functionality of the chaotic dynamics is known but the system parameters are unknown. This assumption is usually applicable to many chaotic systems, such as the Henon map, logistic and many other nonlinear maps. Using the recursive-least squares technique, the system parameters are identified and based on the feedback linearization method an adaptive controller is designed for stabilizing the fixed points, or unstable periodic orbits of the chaotic maps. The stability of the proposed scheme has been shown and the effectiveness of the control algorithm has been demonstrated through computer simulations

Adaptive automatic generation control with superconducting magnetic energy storage in power systems

International Nuclear Information System (INIS)

Tripathy, S.C.; Balasubramanian, R.; Nair, P.S.C.

1992-01-01

An improved automatic generation control (AGC) employing self-tuning adaptive control for both main AGC loop and superconducting magnetic energy storage (SMES) is presented in this paper. Computer simulations on a two-area interconnected power system show that the proposed adaptive control scheme is very effective in damping out oscillations caused by load disturbances and its performance is quite insensitive to controller gain parameter changes of SMES. A comprehensive comparative performance evaluation of control schemes using adaptive and non-adaptive controllers in the main AGC and in the SMES control loops is presented. The improvement in performance brought in by the adaptive scheme is particularly pronounced for load changes of random magnitude and duration. The proposed controller can be easily implemented using microprocessors

Adaptive response to DNA-damaging agents in natural Saccharomyces cerevisiae populations from "Evolution Canyon", Mt. Carmel, Israel.

Directory of Open Access Journals (Sweden)

Gabriel A Lidzbarsky

2009-06-01

Full Text Available Natural populations of most organisms, especially unicellular microorganisms, are constantly exposed to harsh environmental factors which affect their growth. UV radiation is one of the most important physical parameters which influences yeast growth in nature. Here we used 46 natural strains of Saccharomyces cerevisiae isolated from several natural populations at the "Evolution Canyon" microsite (Nahal Oren, Mt. Carmel, Israel. The opposing slopes of this canyon share the same geology, soil, and macroclimate, but they differ in microclimatic conditions. The interslope differences in solar radiation (200%-800% more on the "African" slope caused the development of two distinct biomes. The south-facing slope is sunnier and has xeric, savannoid "African" environment while the north-facing slope is represented by temperate, "European" forested environment. Here we studied the phenotypic response of the S. cerevisiae strains to UVA and UVC radiations and to methyl methanesulfonate (MMS in order to evaluate the interslope effect on the strains' ability to withstand DNA-damaging agents.We exposed our strains to the different DNA-damaging agents and measured survival by counting colony forming units. The strains from the "African" slope were more resilient to both UVA and MMS than the strains from the "European" slope. In contrast, we found that there was almost no difference between strains (with similar ploidy from the opposite slopes, in their sensitivity to UVC radiation. These results suggest that the "African" strains are more adapted to higher solar radiation than the "European" strains. We also found that the tetraploids strains were more tolerant to all DNA-damaging agents than their neighboring diploid strains, which suggest that high ploidy level might be a mechanism of adaptation to high solar radiation.Our results and the results of parallel studies with several other organisms, suggest that natural selection appears to select, at a

Fully probabilistic control design in an adaptive critic framework

Czech Academy of Sciences Publication Activity Database

Herzallah, R.; Kárný, Miroslav

2011-01-01

Roč. 24, č. 10 (2011), s. 1128-1135 ISSN 0893-6080 R&D Projects: GA ČR GA102/08/0567 Institutional research plan: CEZ:AV0Z10750506 Keywords : Stochastic control design * Fully probabilistic design * Adaptive control * Adaptive critic Subject RIV: BC - Control Systems Theory Impact factor: 2.182, year: 2011 http://library.utia.cas.cz/separaty/2011/AS/karny-0364820.pdf

Indirect fuzzy adaptive control of a class of SISO nonlinear systems

International Nuclear Information System (INIS)

Laboid, S.; Boucherit, M.S.

2006-01-01

This paper presents an adaptive fuzzy control scheme for a class of continuous-time single-input single-output nonlinear systems with unknown dynamics and disturbance. Within this scheme, the fuzzy systems are employed to approximate the unknown system's dynamics. The proposed controller is composed of a well-defined adaptive fuzzy control term that uses the adaptive fuzzy approximation errors and disturbance. Based on a Lyapunov synthesis method, it is shown that the proposed adaptive control scheme guarantees the convergence of the tracking error to zero and the global boundedness of all signals in the closed-loop system. Moreover, the proposed controller allows initialization by zero of all adjusted parameters in the fuzzy approximators, and does not require the knowledge of the lower bound of the control gain and upper bounds of the approximation errors and disturbance. Simulation results performed on an inverted pendulum system are given to point out the good performance of the developed adaptive controller. (author)

FRF-based structural damage detection of controlled buildings with podium structures: Experimental investigation

Science.gov (United States)

Xu, Y. L.; Huang, Q.; Zhan, S.; Su, Z. Q.; Liu, H. J.

2014-06-01

How to use control devices to enhance system identification and damage detection in relation to a structure that requires both vibration control and structural health monitoring is an interesting yet practical topic. In this study, the possibility of using the added stiffness provided by control devices and frequency response functions (FRFs) to detect damage in a building complex was explored experimentally. Scale models of a 12-storey main building and a 3-storey podium structure were built to represent a building complex. Given that the connection between the main building and the podium structure is most susceptible to damage, damage to the building complex was experimentally simulated by changing the connection stiffness. To simulate the added stiffness provided by a semi-active friction damper, a steel circular ring was designed and used to add the related stiffness to the building complex. By varying the connection stiffness using an eccentric wheel excitation system and by adding or not adding the circular ring, eight cases were investigated and eight sets of FRFs were measured. The experimental results were used to detect damage (changes in connection stiffness) using a recently proposed FRF-based damage detection method. The experimental results showed that the FRF-based damage detection method could satisfactorily locate and quantify damage.

Adaptive Fuzzy-Lyapunov Controller Using Biologically Inspired Swarm Intelligence

Directory of Open Access Journals (Sweden)

Alejandro Carrasco Elizalde

2008-01-01

Full Text Available The collective behaviour of swarms produces smarter actions than those achieved by a single individual. Colonies of ants, flocks of birds and fish schools are examples of swarms interacting with their environment to achieve a common goal. This cooperative biological intelligence is the inspiration for an adaptive fuzzy controller developed in this paper. Swarm intelligence is used to adjust the parameters of the membership functions used in the adaptive fuzzy controller. The rules of the controller are designed using a computing-with-words approach called Fuzzy-Lyapunov synthesis to improve the stability and robustness of an adaptive fuzzy controller. Computing-with-words provides a powerful tool to manipulate numbers and symbols, like words in a natural language.

On Using Exponential Parameter Estimators with an Adaptive Controller

Science.gov (United States)

Patre, Parag; Joshi, Suresh M.

2011-01-01

Typical adaptive controllers are restricted to using a specific update law to generate parameter estimates. This paper investigates the possibility of using any exponential parameter estimator with an adaptive controller such that the system tracks a desired trajectory. The goal is to provide flexibility in choosing any update law suitable for a given application. The development relies on a previously developed concept of controller/update law modularity in the adaptive control literature, and the use of a converse Lyapunov-like theorem. Stability analysis is presented to derive gain conditions under which this is possible, and inferences are made about the tracking error performance. The development is based on a class of Euler-Lagrange systems that are used to model various engineering systems including space robots and manipulators.

Fuzzy adaptive speed control of a permanent magnet synchronous motor

Science.gov (United States)

Choi, Han Ho; Jung, Jin-Woo; Kim, Rae-Young

2012-05-01

A fuzzy adaptive speed controller is proposed for a permanent magnet synchronous motor (PMSM). The proposed fuzzy adaptive speed regulator is insensitive to model parameter and load torque variations because it does not need any accurate knowledge about the motor parameter and load torque values. The stability of the proposed control system is also proven. The proposed adaptive speed regulator system is implemented by using a TMS320F28335 floating point DSP. Simulation and experimental results are presented to verify the effectiveness of the proposed fuzzy adaptive speed controller under uncertainties such as motor parameter and load torque variations using a prototype PMSM drive system.

Adaptive pitch control for load mitigation of wind turbines

Science.gov (United States)

Yuan, Yuan; Tang, J.

2015-04-01

In this research, model reference adaptive control is examined for the pitch control of wind turbines that may suffer from reduced life owing to extreme loads and fatigue when operated under a high wind speed. Specifically, we aim at making a trade-off between the maximum energy captured and the load induced. The adaptive controller is designed to track the optimal generator speed and at the same time to mitigate component loads under turbulent wind field and other uncertainties. The proposed algorithm is tested on the NREL offshore 5-MW baseline wind turbine, and its performance is compared with that those of the gain scheduled proportional integral (GSPI) control and the disturbance accommodating control (DAC). The results show that the blade root flapwise load can be reduced at a slight expense of optimal power output. The generator speed regulation under adaptive controller is better than DAC.

Evaluation-Function-based Model-free Adaptive Fuzzy Control

Directory of Open Access Journals (Sweden)

Agus Naba

2016-12-01

Full Text Available Designs of adaptive fuzzy controllers (AFC are commonly based on the Lyapunov approach, which requires a known model of the controlled plant. They need to consider a Lyapunov function candidate as an evaluation function to be minimized. In this study these drawbacks were handled by designing a model-free adaptive fuzzy controller (MFAFC using an approximate evaluation function defined in terms of the current state, the next state, and the control action. MFAFC considers the approximate evaluation function as an evaluative control performance measure similar to the state-action value function in reinforcement learning. The simulation results of applying MFAFC to the inverted pendulum benchmark verified the proposed scheme’s efficacy.

Nonlinear adaptive inverse control via the unified model neural network

Science.gov (United States)

Jeng, Jin-Tsong; Lee, Tsu-Tian

1999-03-01

In this paper, we propose a new nonlinear adaptive inverse control via a unified model neural network. In order to overcome nonsystematic design and long training time in nonlinear adaptive inverse control, we propose the approximate transformable technique to obtain a Chebyshev Polynomials Based Unified Model (CPBUM) neural network for the feedforward/recurrent neural networks. It turns out that the proposed method can use less training time to get an inverse model. Finally, we apply this proposed method to control magnetic bearing system. The experimental results show that the proposed nonlinear adaptive inverse control architecture provides a greater flexibility and better performance in controlling magnetic bearing systems.

Design of a Model Reference Adaptive Controller for an Unmanned Air Vehicle

Science.gov (United States)

Crespo, Luis G.; Matsutani, Megumi; Annaswamy, Anuradha M.

2010-01-01

This paper presents the "Adaptive Control Technology for Safe Flight (ACTS)" architecture, which consists of a non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off nominal ones. The design and implementation procedures of both controllers are presented. The aim of these procedures, which encompass both theoretical and practical considerations, is to develop a controller suitable for flight. The ACTS architecture is applied to the Generic Transport Model developed by NASA-Langley Research Center. The GTM is a dynamically scaled test model of a transport aircraft for which a flight-test article and a high-fidelity simulation are available. The nominal controller at the core of the ACTS architecture has a multivariable LQR-PI structure while the adaptive one has a direct, model reference structure. The main control surfaces as well as the throttles are used as control inputs. The inclusion of the latter alleviates the pilot s workload by eliminating the need for cancelling the pitch coupling generated by changes in thrust. Furthermore, the independent usage of the throttles by the adaptive controller enables their use for attitude control. Advantages and potential drawbacks of adaptation are demonstrated by performing high fidelity simulations of a flight-validated controller and of its adaptive augmentation.

Multivariable adaptive control of bio process

Energy Technology Data Exchange (ETDEWEB)

Maher, M.; Bahhou, B.; Roux, G. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Maher, M. [Faculte des Sciences, Rabat (Morocco). Lab. de Physique

1995-12-31

This paper presents a multivariable adaptive control of a continuous-flow fermentation process for the alcohol production. The linear quadratic control strategy is used for the regulation of substrate and ethanol concentrations in the bioreactor. The control inputs are the dilution rate and the influent substrate concentration. A robust identification algorithm is used for the on-line estimation of linear MIMO model`s parameters. Experimental results of a pilot-plant fermenter application are reported and show the control performances. (authors) 8 refs.

Interval type-2 fuzzy gain-adaptive controller of a Doubly Fed ...

African Journals Online (AJOL)

... Interval Type-2 Fuzzy Gain Adaptive IP (IT2FGAIP) controller and a conventional IP controller ... and an adaptive IP controller is proposed for the speed control of DFIM in the presence of ... EMAIL FREE FULL TEXT EMAIL FREE FULL TEXT

Focused cognitive control in dishonesty: Evidence for predominantly transient conflict adaptation.

Science.gov (United States)

Foerster, Anna; Pfister, Roland; Schmidts, Constantin; Dignath, David; Wirth, Robert; Kunde, Wilfried

2018-04-01

Giving a dishonest response to a question entails cognitive conflict due to an initial activation of the truthful response. Following conflict monitoring theory, dishonest responding could therefore elicit transient and sustained control adaptation processes to mitigate such conflict, and the current experiments take on the scope and specificity of such conflict adaptation in dishonesty. Transient adaptation reduces differences between honest and dishonest responding following a recent dishonest response. Sustained adaptation has a similar behavioral signature but is driven by the overall frequency of dishonest responding. Both types of adaptation to recent and frequent dishonest responses have been separately documented, leaving open whether control processes in dishonest responding can flexibly adapt to transient and sustained conflict signals of dishonest and other actions. This was the goal of the present experiments which studied (dis)honest responding to autobiographical yes/no questions. Experiment 1 showed robust transient adaptation to recent dishonest responses whereas sustained control adaptation failed to exert an influence on behavior. It further revealed that transient effects may create a spurious impression of sustained adaptation in typical experimental settings. Experiments 2 and 3 examined whether dishonest responding can profit from transient and sustained adaption processes triggered by other behavioral conflicts. This was clearly not the case: Dishonest responding adapted markedly to recent (dis)honest responses but not to any context of other conflicts. These findings indicate that control adaptation in dishonest responding is strong but surprisingly focused and they point to a potential trade-off between transient and sustained adaptation. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Adaptive feed forward in the LANL RF control system

International Nuclear Information System (INIS)

Ziomek, C.D.

1992-01-01

This paper describes an adaptive feed forward system that corrects repetitive errors in the amplitude and phase of the RF field of a pulsed accelerator. High-frequency disturbances that are beyond the effective bandwidth of the RF-field feedback control system can be eliminated with a feed forward system. Many RF-field disturbances for a pulsed accelerator are repetitive, occurring at the same relative time in every pulse. This design employs digital signal processing hardware to adaptively determine and track the control signals required to eliminate the repetitive errors in the feedback control system. In order to provide the necessary high-frequency response, the adaptive feed forward hardware provides the calculated control signal prior to the repetitive disturbance that it corrects. This system has been demonstrated to reduce the transient disturbances caused by beam pulses. Furthermore, it has been shown to negate high-frequency phase and amplitude oscillations in a high-power klystron amplifier caused by PFN ripple on the high-voltage. The design and results of the adaptive feed forward system are presented. (Author) 3 figs., 2 refs

Trophic complexity and the adaptive value of damage-induced plant volatiles.

Directory of Open Access Journals (Sweden)

Ian Kaplan

Full Text Available Indirect plant defenses are those facilitating the action of carnivores in ridding plants of their herbivorous consumers, as opposed to directly poisoning or repelling them. Of the numerous and diverse indirect defensive strategies employed by plants, inducible volatile production has garnered the most fascination among plant-insect ecologists. These volatile chemicals are emitted in response to feeding by herbivorous arthropods and serve to guide predators and parasitic wasps to their prey. Implicit in virtually all discussions of plant volatile-carnivore interactions is the premise that plants "call for help" to bodyguards that serve to boost plant fitness by limiting herbivore damage. This, by necessity, assumes a three-trophic level food chain where carnivores benefit plants, a theoretical framework that is conceptually tractable and convenient, but poorly depicts the complexity of food-web dynamics occurring in real communities. Recent work suggests that hyperparasitoids, top consumers acting from the fourth trophic level, exploit the same plant volatile cues used by third trophic level carnivores. Further, hyperparasitoids shift their foraging preferences, specifically cueing in to the odor profile of a plant being damaged by a parasitized herbivore that contains their host compared with damage from an unparasitized herbivore. If this outcome is broadly representative of plant-insect food webs at large, it suggests that damage-induced volatiles may not always be beneficial to plants with major implications for the evolution of anti-herbivore defense and manipulating plant traits to improve biological control in agricultural crops.

From Cellular Attractor Selection to Adaptive Signal Control for Traffic Networks.

Science.gov (United States)

Tian, Daxin; Zhou, Jianshan; Sheng, Zhengguo; Wang, Yunpeng; Ma, Jianming

2016-03-14

The management of varying traffic flows essentially depends on signal controls at intersections. However, design an optimal control that considers the dynamic nature of a traffic network and coordinates all intersections simultaneously in a centralized manner is computationally challenging. Inspired by the stable gene expressions of Escherichia coli in response to environmental changes, we explore the robustness and adaptability performance of signalized intersections by incorporating a biological mechanism in their control policies, specifically, the evolution of each intersection is induced by the dynamics governing an adaptive attractor selection in cells. We employ a mathematical model to capture such biological attractor selection and derive a generic, adaptive and distributed control algorithm which is capable of dynamically adapting signal operations for the entire dynamical traffic network. We show that the proposed scheme based on attractor selection can not only promote the balance of traffic loads on each link of the network but also allows the global network to accommodate dynamical traffic demands. Our work demonstrates the potential of bio-inspired intelligence emerging from cells and provides a deep understanding of adaptive attractor selection-based control formation that is useful to support the designs of adaptive optimization and control in other domains.

A discrete-time adaptive control scheme for robot manipulators

Science.gov (United States)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Adaptive Backstepping Control of Lightweight Tower Wind Turbine

DEFF Research Database (Denmark)

Galeazzi, Roberto; Borup, Kasper Trolle; Niemann, Hans Henrik

2015-01-01

the angular deflection of the tower with respect to the vertical axis in response to variations in wind speed. The controller is shown to guarantee asymptotic tracking of the reference trajectory. The performance of the control system is evaluated through deterministic and stochastic simulations including......This paper investigates the feasibility of operating a wind turbine with lightweight tower in the full load region exploiting an adaptive nonlinear controller that allows the turbine to dynamically lean against the wind while maintaining nominal power output. The use of lightweight structures...... for towers and foundations would greatly reduce the construction cost of the wind turbine, however extra features ought be included in the control system architecture to avoid tower collapse. An adaptive backstepping collective pitch controller is proposed for tower point tracking control, i.e. to modify...

Adaptive Control with Reference Model Modification

Science.gov (United States)

Stepanyan, Vahram; Krishnakumar, Kalmanje

2012-01-01

This paper presents a modification of the conventional model reference adaptive control (MRAC) architecture in order to improve transient performance of the input and output signals of uncertain systems. A simple modification of the reference model is proposed by feeding back the tracking error signal. It is shown that the proposed approach guarantees tracking of the given reference command and the reference control signal (one that would be designed if the system were known) not only asymptotically but also in transient. Moreover, it prevents generation of high frequency oscillations, which are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference commands of any magnitude from any initial position without re-tuning. The benefits of the method are demonstrated with a simulation example

Robust synchronization of drive-response chaotic systems via adaptive sliding mode control

International Nuclear Information System (INIS)

Li, W.-L.; Chang, K.-M.

2009-01-01

A robust adaptive sliding control scheme is developed in this study to achieve synchronization for two identical chaotic systems in the presence of uncertain system parameters, external disturbances and nonlinear control inputs. An adaptation algorithm is given based on the Lyapunov stability theory. Using this adaptation technique to estimate the upper-bounds of parameter variation and external disturbance uncertainties, an adaptive sliding mode controller is then constructed without requiring the bounds of parameter and disturbance uncertainties to be known in advance. It is proven that the proposed adaptive sliding mode controller can maintain the existence of sliding mode in finite time in uncertain chaotic systems. Finally, numerical simulations are presented to show the effectiveness of the proposed control scheme.

Adaptive response in human blood lymphocytes exposed to non-ionizing radiofrequency fields: resistance to ionizing radiation-induced damage.

Science.gov (United States)

Sannino, Anna; Zeni, Olga; Romeo, Stefania; Massa, Rita; Gialanella, Giancarlo; Grossi, Gianfranco; Manti, Lorenzo; Vijayalaxmi; Scarfì, Maria Rosaria

2014-03-01

The aim of this preliminary investigation was to assess whether human peripheral blood lymphocytes which have been pre-exposed to non-ionizing radiofrequency fields exhibit an adaptive response (AR) by resisting the induction of genetic damage from subsequent exposure to ionizing radiation. Peripheral blood lymphocytes from four healthy donors were stimulated with phytohemagglutinin for 24 h and then exposed for 20 h to 1950 MHz radiofrequency fields (RF, adaptive dose, AD) at an average specific absorption rate of 0.3 W/kg. At 48 h, the cells were subjected to a challenge dose (CD) of 1.0 or 1.5 Gy X-irradiation (XR, challenge dose, CD). After a 72 h total culture period, cells were collected to examine the incidence of micronuclei (MN). There was a significant decrease in the number of MN in lymphocytes exposed to RF + XR (AD + CD) as compared with those subjected to XR alone (CD). These observations thus suggested a RF-induced AR and induction of resistance to subsequent damage from XR. There was variability between the donors in RF-induced AR. The data reported in our earlier investigations also indicated a similar induction of AR in human blood lymphocytes that had been pre-exposed to RF (AD) and subsequently treated with a chemical mutagen, mitomycin C (CD). Since XR and mitomycin-C induce different kinds of lesions in cellular DNA, further studies are required to understand the mechanism(s) involved in the RF-induced adaptive response.

Adaptive integral robust control and application to electromechanical servo systems.

Science.gov (United States)

Deng, Wenxiang; Yao, Jianyong

2017-03-01

This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Damage Prediction in Sheet Metal Forming

International Nuclear Information System (INIS)

Saanouni, Khemais; Badreddine, Houssem

2007-01-01

Ductile (or plastic) damage often occurs during sheet metal forming processes due to the large plastic flow localization. Accordingly, it is crucial for numerical tools, used in the simulation of that processes, to use fully coupled constitutive equations accounting for both hardening and damage. This can be used in both cases, namely to overcome the damage initiation during some sheet metal forming processes as deep drawing, ... or to enhance the damage initiation and growth as in sheet metal cutting. In this paper, a fully coupled constitutive equations accounting for combined isotropic and kinematic hardening as well as the ductile damage is implemented into the general purpose Finite Element code for metal forming simulation. First, the fully coupled anisotropic constitutive equations in the framework of Continuum Damage Mechanics are presented. Attention is paid to the strong coupling between the main mechanical fields as elasto-viscoplasticity, mixed hardening, ductile isotropic damage and contact with friction. The anisotropy of the plastic flow is taken into account using various kinds of quadratic or non quadratic yield criteria in the framework of non associative finite plasticity theory with two types of normality rules. The associated numerical aspects concerning both the local integration of the coupled constitutive equations as well as the (global) equilibrium integration schemes are presented. The local integration is outlined thanks to the Newton iterative scheme applied to a reduced system of 2 equations. For the global resolution of the initial and boundary value problem, the classical dynamic explicit (DE) scheme with an adaptive time step control is used. The numerical implementation of the damage is made in such a manner that calculations can be executed with or without damage effect, i.e. fully coupled or uncoupled calculations. For the 2D processes an advanced adaptive meshing procedure is used in order to enhance the numerical solution and

Direct adaptive control of a PUMA 560 industrial robot

Science.gov (United States)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Adaptive Gain Scheduled Semiactive Vibration Control Using a Neural Network

Directory of Open Access Journals (Sweden)

Kazuhiko Hiramoto

2018-01-01

Full Text Available We propose an adaptive gain scheduled semiactive control method using an artificial neural network for structural systems subject to earthquake disturbance. In order to design a semiactive control system with high control performance against earthquakes with different time and/or frequency properties, multiple semiactive control laws with high performance for each of multiple earthquake disturbances are scheduled with an adaptive manner. Each semiactive control law to be scheduled is designed based on the output emulation approach that has been proposed by the authors. As the adaptive gain scheduling mechanism, we introduce an artificial neural network (ANN. Input signals of the ANN are the measured earthquake disturbance itself, for example, the acceleration, velocity, and displacement. The output of the ANN is the parameter for the scheduling of multiple semiactive control laws each of which has been optimized for a single disturbance. Parameters such as weight and bias in the ANN are optimized by the genetic algorithm (GA. The proposed design method is applied to semiactive control design of a base-isolated building with a semiactive damper. With simulation study, the proposed adaptive gain scheduling method realizes control performance exceeding single semiactive control optimizing the average of the control performance subject to various earthquake disturbances.

Intelligent control of non-linear dynamical system based on the adaptive neurocontroller

Science.gov (United States)

Engel, E.; Kovalev, I. V.; Kobezhicov, V.

2015-10-01

This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.

Development of fault tolerant adaptive control laws for aerospace systems

Science.gov (United States)

Perez Rocha, Andres E.

The main topic of this dissertation is the design, development and implementation of intelligent adaptive control techniques designed to maintain healthy performance of aerospace systems subjected to malfunctions, external parameter changes and/or unmodeled dynamics. The dissertation is focused on the development of novel adaptive control configurations that rely on non-linear functions that appear in the immune system of living organisms as main source of adaptation. One of the main goals of this dissertation is to demonstrate that these novel adaptive control architectures are able to improve overall performance and protect the system while reducing control effort and maintaining adequate operation outside bounds of nominal design. This research effort explores several phases, ranging from theoretical stability analysis, simulation and hardware implementation on different types of aerospace systems including spacecraft, aircraft and quadrotor vehicles. The results presented in this dissertation are focused on two main adaptivity approaches, the first one is intended for aerospace systems that do not attain large angles and use exact feedback linearization of Euler angle kinematics. A proof of stability is presented by means of the circle Criterion and Lyapunov's direct method. The second approach is intended for aerospace systems that can attain large attitude angles (e.g. space systems in gravity-less environments), the adaptation is incorporated on a baseline architecture that uses partial feedback linearization of quaternions kinematics. In this case, the closed loop stability was analyzed using Lyapunov's direct method and Barbalat's Lemma. It is expected that some results presented in this dissertation can contribute towards the validation and certification of direct adaptive controllers.

Revisionist integral deferred correction with adaptive step-size control

KAUST Repository

Christlieb, Andrew

2015-03-27

© 2015 Mathematical Sciences Publishers. Adaptive step-size control is a critical feature for the robust and efficient numerical solution of initial-value problems in ordinary differential equations. In this paper, we show that adaptive step-size control can be incorporated within a family of parallel time integrators known as revisionist integral deferred correction (RIDC) methods. The RIDC framework allows for various strategies to implement stepsize control, and we report results from exploring a few of them.

Fuzzy Adaptive Model Following Speed Control for Vector Controlled Permanent Magnet Synchronous Motor

Directory of Open Access Journals (Sweden)

Baghdad BELABES

2008-12-01

Full Text Available In this paper a hybrid controller combining a linear model following controller (LMFC and fuzzy logic control (FLC for speed vector controlled permanent magnet synchronous motor (PMSM is described on this study. The FLC is introduced at the adaptive mechanism level. First, an LMFC system is designed to allow the plant states to be controlled to follow the states produced by a reference model. In the nominal conditions, the model following is perfect and the adaptive mechanism based on the fuzzy logic is idle. Secondly, when parameter variations or external disturbances occur, an augmented signal will be generated by FLC mechanism to preserve the desired model following control performance. The effectiveness and robustness of the proposed controller is demonstrated by some simulation results.

Adaptive hybrid optimal quantum control for imprecisely characterized systems.

Science.gov (United States)

Egger, D J; Wilhelm, F K

2014-06-20

Optimal quantum control theory carries a huge promise for quantum technology. Its experimental application, however, is often hindered by imprecise knowledge of the input variables, the quantum system's parameters. We show how to overcome this by adaptive hybrid optimal control, using a protocol named Ad-HOC. This protocol combines open- and closed-loop optimal control by first performing a gradient search towards a near-optimal control pulse and then an experimental fidelity estimation with a gradient-free method. For typical settings in solid-state quantum information processing, adaptive hybrid optimal control enhances gate fidelities by an order of magnitude, making optimal control theory applicable and useful.

Novel hybrid adaptive controller for manipulation in complex perturbation environments.

Directory of Open Access Journals (Sweden)

Alex M C Smith

Full Text Available In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

Non-identifier based adaptive control in mechatronics theory and application

CERN Document Server

Hackl, Christoph M

2017-01-01

This book introduces non-identifier-based adaptive control (with and without internal model) and its application to the current, speed and position control of mechatronic systems such as electrical synchronous machines, wind turbine systems, industrial servo systems, and rigid-link, revolute-joint robots. In mechatronics, there is often only rough knowledge of the system. Due to parameter uncertainties, nonlinearities and unknown disturbances, model-based control strategies can reach their performance or stability limits without iterative controller design and performance evaluation, or system identification and parameter estimation. The non-identifier-based adaptive control presented is an alternative that neither identifies the system nor estimates its parameters but ensures stability. The adaptive controllers are easy to implement, compensate for disturbances and are inherently robust to parameter uncertainties and nonlinearities. For controller implementation only structural system knowledge (like relativ...

Adaptive fuzzy sliding control of single-phase PV grid-connected inverter.

Science.gov (United States)

Fei, Juntao; Zhu, Yunkai

2017-01-01

In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance.

Development of damage control training scenarios of naval ships based on simplified vulnerability analysis results

Directory of Open Access Journals (Sweden)

Dong-Ki Park

2016-07-01

Full Text Available Given the growing interest in damage control training for the naval ships and their organizations, expectations for a new concept of training program have also increased. The existing training programs and its concept focus on training crew to be more proficient and skilled so that they can respond better to damage situations, i.e., fires and flooding. This paper suggests a development procedure of damage control training scenarios using the survivability analysis results as a new concept of damage control training programs employing advanced systems such as damage control console, automation system, and kill cards. This approach could help the decision maker not only enhance his or her capability but also improve the reacting capability of crew members for complex situations induced by a weapon hit.

Cirurgia para controle de danos: estado atual Damage control surgery: an update

Directory of Open Access Journals (Sweden)

Rodrigo Camargo Leão Edelmuth

2013-04-01

Full Text Available A cirurgia de controle de danos é um conceito amplamente aceito atualmente entre os especialistas em trauma abdominal quando se trata de doentes gravemente traumatizados. Nestes pacientes a morte decorre, na maioria das vezes, da instalação da tríade letal (hipotermia, coagulopatia e acidose e não da incapacidade de reparar as graves lesões presentes. Nesta revisão, os autores abordam a tríade letal, em suas três fases, e enfatizam as medidas adotadas para preveni-las. Além de discutirem a indicação e o emprego da cirurgia para o controle de danos em seus vários estágios. A restauração dos padrões fisiológicos do doente na UTI, para que o mesmo possa ser submetido à operação definitiva e ao fechamento da cavidade abdominal, outro desafio no paciente traumatizado grave, também é discutida.The damage control surgery is a widely accepted concept today among abdominal trauma specialists when it comes to the severely traumatized. In these patients, the death is due, in most cases, to the installation of the lethal triad (hypothermia, coagulopathy and acidosis and not the inability to repair the serious initial damage. In this review, the authors address the lethal triad in its three phases and emphasize the measures taken to prevent them, as well as discussing the indication and employment of damage control surgery in its various stages. Restoring the physiological status of the patient in the ICU, so that he/she can be submitted to final operation and closure of the abdominal cavity, another challenge in severe trauma patients, is also discussed.

Modeling and (adaptive) control of greenhouse climates

NARCIS (Netherlands)

Udink ten Cate, A.J.

1983-01-01

The material presented in this thesis can be grouped around four themes, system concepts, modeling, control and adaptive control. In this summary these themes will be treated separately.

System concepts

In Chapters 1 and 2 an overview of the problem formulation

Bayesian selective response-adaptive design using the historical control.

Science.gov (United States)

Kim, Mi-Ok; Harun, Nusrat; Liu, Chunyan; Khoury, Jane C; Broderick, Joseph P

2018-06-13

High quality historical control data, if incorporated, may reduce sample size, trial cost, and duration. A too optimistic use of the data, however, may result in bias under prior-data conflict. Motivated by well-publicized two-arm comparative trials in stroke, we propose a Bayesian design that both adaptively incorporates historical control data and selectively adapt the treatment allocation ratios within an ongoing trial responsively to the relative treatment effects. The proposed design differs from existing designs that borrow from historical controls. As opposed to reducing the number of subjects assigned to the control arm blindly, this design does so adaptively to the relative treatment effects only if evaluation of cumulated current trial data combined with the historical control suggests the superiority of the intervention arm. We used the effective historical sample size approach to quantify borrowed information on the control arm and modified the treatment allocation rules of the doubly adaptive biased coin design to incorporate the quantity. The modified allocation rules were then implemented under the Bayesian framework with commensurate priors addressing prior-data conflict. Trials were also more frequently concluded earlier in line with the underlying truth, reducing trial cost, and duration and yielded parameter estimates with smaller standard errors. © 2018 The Authors. Statistics in Medicine Published by John Wiley & Sons, Ltd.

Decreasing the damage in smart structures using integrated online DDA/ISMP and semi-active control

International Nuclear Information System (INIS)

Karami, K; Amini, F

2012-01-01

Integrated structural health monitoring (SHM) and vibration control has been considered recently by researchers. Up to now, all of the research in the field of integrated SHM and vibration control has been conducted using control devices and control algorithms to enhance system identification and damage detection. In this study, online SHM is used to improve the performance of structural vibration control, unlike previous research. Also, a proposed algorithm including integrated online SHM and a semi-active control strategy is used to reduce both damage and seismic response of the main structure due to strong seismic disturbance. In the proposed algorithm the nonlinear behavior of the building structure is simulated during the excitation. Then, using the measured data and the damage detection algorithm based on identified system Markov parameters (DDA/ISMP), a method proposed by the authors, damage corresponding to axial and bending stiffness of all structural elements is identified. In this study, a 20 t MR damper is employed as a control device to mitigate both damage and dynamic response of the building structure. Also, the interaction between SHM and a semi-active control strategy is assessed. To illustrate the efficiency of the proposed algorithm, a two bay two story steel braced frame structure is used. By defining the damage index and damage rate index, the input current of the MR damper is generated using a fuzzy logic controller. The obtained results show that the possibility of smart building creation is provided using the proposed algorithm. In comparison to the widely used strategy of only vibration control, it is shown that the proposed algorithm is more effective. Furthermore, in the proposed algorithm, the total consumed current intensity and generated control forces are considerably less than for the strategy of only vibration control. (paper)

Decreasing the damage in smart structures using integrated online DDA/ISMP and semi-active control

Science.gov (United States)

Karami, K.; Amini, F.

2012-10-01

Integrated structural health monitoring (SHM) and vibration control has been considered recently by researchers. Up to now, all of the research in the field of integrated SHM and vibration control has been conducted using control devices and control algorithms to enhance system identification and damage detection. In this study, online SHM is used to improve the performance of structural vibration control, unlike previous research. Also, a proposed algorithm including integrated online SHM and a semi-active control strategy is used to reduce both damage and seismic response of the main structure due to strong seismic disturbance. In the proposed algorithm the nonlinear behavior of the building structure is simulated during the excitation. Then, using the measured data and the damage detection algorithm based on identified system Markov parameters (DDA/ISMP), a method proposed by the authors, damage corresponding to axial and bending stiffness of all structural elements is identified. In this study, a 20 t MR damper is employed as a control device to mitigate both damage and dynamic response of the building structure. Also, the interaction between SHM and a semi-active control strategy is assessed. To illustrate the efficiency of the proposed algorithm, a two bay two story steel braced frame structure is used. By defining the damage index and damage rate index, the input current of the MR damper is generated using a fuzzy logic controller. The obtained results show that the possibility of smart building creation is provided using the proposed algorithm. In comparison to the widely used strategy of only vibration control, it is shown that the proposed algorithm is more effective. Furthermore, in the proposed algorithm, the total consumed current intensity and generated control forces are considerably less than for the strategy of only vibration control.

Adaptive fuzzy trajectory control for biaxial motion stage system

Directory of Open Access Journals (Sweden)

Wei-Lung Mao

2016-04-01

Full Text Available Motion control is an essential part of industrial machinery and manufacturing systems. In this article, the adaptive fuzzy controller is proposed for precision trajectory tracking control in biaxial X-Y motion stage system. The theoretical analyses of direct fuzzy control which is insensitive to parameter uncertainties and external load disturbances are derived to demonstrate the feasibility to track the reference trajectories. The Lyapunov stability theorem has been used to testify the asymptotic stability of the whole system, and all the signals are bounded in the closed-loop system. The intelligent position controller combines the merits of the adaptive fuzzy control with robust characteristics and learning ability for periodic command tracking of a servo drive mechanism. The simulation and experimental results on square, triangle, star, and circle reference contours are presented to show that the proposed controller indeed accomplishes the better tracking performances with regard to model uncertainties. It is observed that the convergence of parameters and tracking errors can be faster and smaller compared with the conventional adaptive fuzzy control in terms of average tracking error and tracking error standard deviation.

Adaptive Control of a Utility-Scale Wind Turbine Operating in Region 3

Science.gov (United States)

Frost, Susan A.; Balas, Mark J.; Wright, Alan D.

2009-01-01

Adaptive control techniques are well suited to nonlinear applications, such as wind turbines, which are difficult to accurately model and which have effects from poorly known operating environments. The turbulent and unpredictable conditions in which wind turbines operate create many challenges for their operation. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility scale, variable-speed horizontal axis wind turbine. The objective of the adaptive pitch controller in Region 3 is to regulate generator speed and reject step disturbances. The control objective is accomplished by collectively pitching the turbine blades. We use an extension of the Direct Model Reference Adaptive Control (DMRAC) approach to track a reference point and to reject persistent disturbances. The turbine simulation models the Controls Advanced Research Turbine (CART) of the National Renewable Energy Laboratory in Golden, Colorado. The CART is a utility-scale wind turbine which has a well-developed and extensively verified simulator. The adaptive collective pitch controller for Region 3 was compared in simulations with a bas celliansesical Proportional Integrator (PI) collective pitch controller. In the simulations, the adaptive pitch controller showed improved speed regulation in Region 3 when compared with the baseline PI pitch controller and it demonstrated robustness to modeling errors.

A Small-Molecule Inducible Synthetic Circuit for Control of the SOS Gene Network without DNA Damage.

Science.gov (United States)

Kubiak, Jeffrey M; Culyba, Matthew J; Liu, Monica Yun; Mo, Charlie Y; Goulian, Mark; Kohli, Rahul M

2017-11-17

The bacterial SOS stress-response pathway is a pro-mutagenic DNA repair system that mediates bacterial survival and adaptation to genotoxic stressors, including antibiotics and UV light. The SOS pathway is composed of a network of genes under the control of the transcriptional repressor, LexA. Activation of the pathway involves linked but distinct events: an initial DNA damage event leads to activation of RecA, which promotes autoproteolysis of LexA, abrogating its repressor function and leading to induction of the SOS gene network. These linked events can each independently contribute to DNA repair and mutagenesis, making it difficult to separate the contributions of the different events to observed phenotypes. We therefore devised a novel synthetic circuit to unlink these events and permit induction of the SOS gene network in the absence of DNA damage or RecA activation via orthogonal cleavage of LexA. Strains engineered with the synthetic SOS circuit demonstrate small-molecule inducible expression of SOS genes as well as the associated resistance to UV light. Exploiting our ability to activate SOS genes independently of upstream events, we further demonstrate that the majority of SOS-mediated mutagenesis on the chromosome does not readily occur with orthogonal pathway induction alone, but instead requires DNA damage. More generally, our approach provides an exemplar for using synthetic circuit design to separate an environmental stressor from its associated stress-response pathway.

Implementation of robust adaptive control for robotic manipulator using TMS320C30

International Nuclear Information System (INIS)

Han, S. H.

1996-01-01

A new adaptive digital control scheme for the robotic manipulator is proposed in this paper. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the adaptive feedforward and feedback controller and PI type time-varying control elements. The control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot. (author)

Fault tolerancy in cooperative adaptive cruise control

NARCIS (Netherlands)

Nunen, E. van; Ploeg, J.; Medina, A.M.; Nijmeijer, H.

2013-01-01

Future mobility requires sound solutions in the field of fault tolerance in real-time applications amongst which Cooperative Adaptive Cruise Control (CACC). This control system cannot rely on the driver as a backup and is constantly active and therefore more prominent to the occurrences of faults

Adaptive tuning of a 2DOF controller for robust cell manipulation using IPMC actuators

International Nuclear Information System (INIS)

McDaid, A J; Aw, K C; Haemmerle, E; Xie, S Q; Shahinpoor, M

2011-01-01

Rapid advancement in medicine and bioscience is causing demand for faster, more accurate and dexterous as well as safer and more reliable micro-manipulators capable of handling biological cells. Current micro-manipulation techniques commonly damage cell walls and membranes due to their stiffness and rigidity. Ionic polymer-metal composite (IPMC) actuators have inherent compliance and with their ability to operate well in fluid and cellular environments they present a unique solution for safe cell manipulation. The reason for the downfall of IPMCs is that their complex behaviour makes them hard to control precisely in unknown environments and in the presence of sizeable external disturbances. This paper presents a novel scheme for adaptively tuning IPMC actuators for precise and robust micro-manipulation of biological cells. A two-degree-of-freedom (2DOF) controller is developed to allow optimal performance for both disturbance rejection (DR) and set point (SP) tracking. These criteria are optimized using a proposed IFT algorithm which adaptively updates the controller parameters, with no model or prior knowledge of the operating conditions, to achieve a compliant manipulation system which can precisely track targets in the presence of large external disturbances, as will be encountered in real biological environments. Experiments are presented showing the performance optimization of an IPMC actuator in the presence of external mechanical disturbances as well as the optimization of the SP tracking. The IFT algorithm successfully tunes the DR and SP to an 85% and 69% improvement, respectively. Results are also presented for a one-degree-of-freedom (1DOF) controller tuned first for DR and then for SP, for a comparison with the 2DOF controller. Validation has been undertaken to verify that the 2DOF controller does indeed outperform both 1DOF controllers over a variety of operating conditions.

Determination of the adaptive response induced In vivo by gamma radiation and its relation with the sensibility to the damage induction in the DNA and with the repairing capacity

International Nuclear Information System (INIS)

Mendiola C, M.T.

2002-01-01

The kinetics of damage induction and repair at different doses as well as the adaptive response induced by gamma ray exposure were determined in murine leukocytes in vivo. The damage-repair kinetics were established after the exposure to 0.5, 1.0 or 2.0 Gy in a 137 Cs source. Peripheral blood samples were obtained from the tails of mice, the percentage of damaged cells and the DNA migration in each one were analyzed by the single cell gel electrophoresis (SCG) technique or comet assay. Results indicated that there was an induction of approximately 75% comets with the doses of 1.0 and 2.0 Gy, which was considerably reduced to 22% and 42% respectively during the first 15 minutes. This evidences the presence of a rapid repair process and suggests that leucocytes are genetically well prepared to repair this kind of damage. After 15 minutes, a second increase in the percentage of damaged cells that was proportional to dose occurred, which seems to represent the breaks produced during the repair of other kind of lesions. After that a second reduction was observed, reaching values near to the basal ones, except with the dose of 2.0 Gy. The kinetics obtained with the dose of 0.5 Gy was similar to that established with 1.0 Gy, but in this case the initial damage was 50 % lower. Besides, the adaptive response was observed after the exposure of the mice to an adaptive dose of 0.01 Gy and to a challenge dose of 1.0 Gy 60 minutes later. The pretreatment reduced the percentage of damaged cells caused by the challenge dose to one third approximately, and also diminished this parameter produced during the late repair process. This indicates that the early adaptive response is caused, instead of by an increment in repair, by the induction of a process that protects DNA from damage induction by radiation, i.e synthesis of substances that increase the scavenging of free radicals. (Author)

Research on the adaptive optical control technology based on DSP

Science.gov (United States)

Zhang, Xiaolu; Xue, Qiao; Zeng, Fa; Zhao, Junpu; Zheng, Kuixing; Su, Jingqin; Dai, Wanjun

2018-02-01

Adaptive optics is a real-time compensation technique using high speed support system for wavefront errors caused by atmospheric turbulence. However, the randomness and instantaneity of atmospheric changing introduce great difficulties to the design of adaptive optical systems. A large number of complex real-time operations lead to large delay, which is an insurmountable problem. To solve this problem, hardware operation and parallel processing strategy are proposed, and a high-speed adaptive optical control system based on DSP is developed. The hardware counter is used to check the system. The results show that the system can complete a closed loop control in 7.1ms, and improve the controlling bandwidth of the adaptive optical system. Using this system, the wavefront measurement and closed loop experiment are carried out, and obtain the good results.

Population variability in biological adaptive responses to DNA damage and the shapes of carcinogen dose-response curves

International Nuclear Information System (INIS)

Conolly, Rory B.; Gaylor, David W.; Lutz, Werner K.

2005-01-01

Carcinogen dose-response curves for both ionizing radiation and chemicals are typically assumed to be linear at environmentally relevant doses. This assumption is used to ensure protection of the public health in the absence of relevant dose-response data. A theoretical justification for the assumption has been provided by the argument that low dose linearity is expected when an exogenous agent adds to an ongoing endogenous process. Here, we use computational modeling to evaluate (1) how two biological adaptive processes, induction of DNA repair and cell cycle checkpoint control, may affect the shapes of dose-response curves for DNA-damaging carcinogens and (2) how the resulting dose-response behaviors may vary within a population. Each model incorporating an adaptive process was capable of generating not only monotonic dose-responses but also nonmonotonic (J-shaped) and threshold responses. Monte Carlo analysis suggested that all these dose-response behaviors could coexist within a population, as the spectrum of qualitative differences arose from quantitative changes in parameter values. While this analysis is largely theoretical, it suggests that (a) accurate prediction of the qualitative form of the dose-response requires a quantitative understanding of the mechanism (b) significant uncertainty is associated with human health risk prediction in the absence of such quantitative understanding and (c) a stronger experimental and regulatory focus on biological mechanisms and interindividual variability would allow flexibility in regulatory treatment of environmental carcinogens without compromising human health

Adaptive PID control based on orthogonal endocrine neural networks.

Science.gov (United States)

Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D

2016-12-01

A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances. Copyright © 2016 Elsevier Ltd. All rights reserved.

Damage control kirurgi--en gennemgang af et Cochranereview

DEFF Research Database (Denmark)

Boel, Thomas; Hillingsø, Jens G; Svendsen, Lars Bo

2011-01-01

Damage Control Surgery (DCS) has been the approach in dealing with multi-trauma patients for the last 15 years. In this Cochrane-review the authors seek to compare the outcome of DCS with the outcome after the conventional strategy which is often a time-consuming operation with definitive repair...

Adaptive sliding mode control of tri-layer conjugated polymer actuators

International Nuclear Information System (INIS)

Wang, Xiangjiang; Alici, Gursel; Nguyen, Chuc Huu

2013-01-01

This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. (paper)

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

Science.gov (United States)

Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang

2010-09-01

This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.

Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

Directory of Open Access Journals (Sweden)

Yanchao Yin

2017-01-01

Full Text Available A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA. Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function (RBF neural network is used to online regulate the equivalent sliding mode control law, and the novel M-CBDCS algorithm is developed to uniformly update the unknown neural network weights and essential model parameters adaptively. The nonlinear approximation error is obtained and serves as a novel leakage term in the adaptations to guarantee the sliding surface convergence and eliminate the chattering phenomenon, which benefit the overall attitude control performance for QTRA. Finally, the appropriate comparisons among the novel adaptive neural network sliding mode control, the classical neural network sliding mode control, and the dynamic inverse PID control are examined, and comparative simulations are included to verify the efficacy of the proposed control method.

Neural network-based model reference adaptive control system.

Science.gov (United States)

Patino, H D; Liu, D

2000-01-01

In this paper, an approach to model reference adaptive control based on neural networks is proposed and analyzed for a class of first-order continuous-time nonlinear dynamical systems. The controller structure can employ either a radial basis function network or a feedforward neural network to compensate adaptively the nonlinearities in the plant. A stable controller-parameter adjustment mechanism, which is determined using the Lyapunov theory, is constructed using a sigma-modification-type updating law. The evaluation of control error in terms of the neural network learning error is performed. That is, the control error converges asymptotically to a neighborhood of zero, whose size is evaluated and depends on the approximation error of the neural network. In the design and analysis of neural network-based control systems, it is important to take into account the neural network learning error and its influence on the control error of the plant. Simulation results showing the feasibility and performance of the proposed approach are given.

Comparison of Conventional Closed-Loop Controller with an Adaptive Controller for a Disturbed Thermodynamic System

DEFF Research Database (Denmark)

Alphinas, Robert A.; Hansen, Hans Henrik; Tambo, Torben

2017-01-01

Non-adaptive proportional controllers suffer from the ability to handle a system disturbance leading to a large steady-state error and undesired transient behavior. On the other hand, they are easy to implement and tune. This article examines whether an adaptive controller based on the MIT...

Revisionist integral deferred correction with adaptive step-size control

KAUST Repository

Christlieb, Andrew; Macdonald, Colin; Ong, Benjamin; Spiteri, Raymond

2015-01-01

© 2015 Mathematical Sciences Publishers. Adaptive step-size control is a critical feature for the robust and efficient numerical solution of initial-value problems in ordinary differential equations. In this paper, we show that adaptive step

Coordinating IMC-PID and adaptive SMC controllers for a PEMFC.

Science.gov (United States)

Wang, Guo-Liang; Wang, Yong; Shi, Jun-Hai; Shao, Hui-He

2010-01-01

For a Proton Exchange Membrane Fuel Cell (PEMFC) power plant with a methanol reformer, the process parameters and power output are considered simultaneously to avoid violation of the constraints and to keep the fuel cell power plant safe and effective. In this paper, a novel coordinating scheme is proposed by combining an Internal Model Control (IMC) based PID Control and adaptive Sliding Mode Control (SMC). The IMC-PID controller is designed for the reformer of the fuel flow rate according to the expected first-order dynamic properties. The adaptive SMC controller of the fuel cell current has been designed using the constant plus proportional rate reaching law. The parameters of the SMC controller are adaptively tuned according to the response of the fuel flow rate control system. When the power output controller feeds back the current references to these two controllers, the coordinating controllers system works in a system-wide way. The simulation results of the PEMFC power plant demonstrate the effectiveness of the proposed method. 2009 ISA. Published by Elsevier Ltd. All rights reserved.

Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

Directory of Open Access Journals (Sweden)

Carlos A. Saldarriaga-Cortés

2012-06-01

Full Text Available This paper presents a methodology to implement an adaptive control of the inverted pendulum system; which uses the recursive square minimum method for the identification of a dynamic digital model of the plant and then, with its estimated parameters, tune in real time a pole placement control. The plant to be used is an unstable and nonlinear system. This fact, combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems. The results show that the above methodology was implemented satisfactorily in terms of estimation, stability and control of such a system. It was established that adaptive techniques have a proper performance even in systems with complex features such as nonlinearity and instability.

Adaptive State Feedback—Theory and Application for Wind Turbine Control

Directory of Open Access Journals (Sweden)

Kaman Thapa Magar

2017-12-01

Full Text Available A class of adaptive disturbance tracking controllers (ADTCs is augmented with disturbance and state estimation and adaptive state feedback, in which a controller and estimator, which are designed on the basis of a lower-order model, are used to control a higher-order nonlinear plant. The ADTC requires that the plant be almost strict positive real (ASPR to ensure stability. In this paper, we show that the ASPR property of a plant is retained with the addition of disturbance and state estimation and state feedback, thereby ensuring the stability of the augmented system. The proposed adaptive controller with augmentation is presented in the context of maximum power extraction from a wind turbine in a low-wind-speed operation region. A simulation and comparative study on the National Renewable Energy Laboratory’s (NREL’s 5 MW nonlinear wind turbine model with an existing baseline Proportional-Integral-Derivative(PID controller shows that the proposed controller is more effective than the existing baseline PID controller.

Nonlinear model-based robust control of a nuclear reactor using adaptive PIF gains and variable structure controller

International Nuclear Information System (INIS)

Park, Moon Ghu; Cho, Nam Zin

1993-01-01

A Nonlinear model-based Hybrid Controller (NHC) is developed which consists of the adaptive proportional-integral-feedforward (PIF) gains and variable structure controller. The controller has the robustness against modeling uncertainty and is applied to the trajectory tracking control of single-input, single-output nonlinear systems. The essence of the scheme is to divide the control into four different terms. Namely, the adaptive P-I-F gains and variable structure controller are used to accomplish the specific control actions by each terms. The robustness of the controller is guaranteed by the feedback of estimated uncertainty and the performance specification given by the adaptation of PIF gains using the second method of Lyapunov. The variable structure controller is incorporated to regulate the initial peak of the tracking error during the parameter adaptation is not settled yet. The newly developed NHC method is applied to the power tracking control of a nuclear reactor and the simulation results show great improvement in tracking performance compared with the conventional model-based control methods. (Author)

Multiple Model Adaptive Attitude Control of LEO Satellite with Angular Velocity Constraints

Science.gov (United States)

Shahrooei, Abolfazl; Kazemi, Mohammad Hosein

2018-04-01

In this paper, the multiple model adaptive control is utilized to improve the transient response of attitude control system for a rigid spacecraft. An adaptive output feedback control law is proposed for attitude control under angular velocity constraints and its almost global asymptotic stability is proved. The multiple model adaptive control approach is employed to counteract large uncertainty in parameter space of the inertia matrix. The nonlinear dynamics of a low earth orbit satellite is simulated and the proposed control algorithm is implemented. The reported results show the effectiveness of the suggested scheme.

Robust adaptive control for Unmanned Aerial Vehicles

Science.gov (United States)

Kahveci, Nazli E.

The objective of meeting higher endurance requirements remains a challenging task for any type and size of Unmanned Aerial Vehicles (UAVs). According to recent research studies significant energy savings can be realized through utilization of thermal currents. The navigation strategies followed across thermal regions, however, are based on rather intuitive assessments of remote pilots and lack any systematic path planning approaches. Various methods to enhance the autonomy of UAVs in soaring applications are investigated while seeking guarantees for flight performance improvements. The dynamics of the aircraft, small UAVs in particular, are affected by the environmental conditions, whereas unmodeled dynamics possibly become significant during aggressive flight maneuvers. Besides, the demanded control inputs might have a magnitude range beyond the limits dictated by the control surface actuators. The consequences of ignoring these issues can be catastrophic. Supporting this claim NASA Dryden Flight Research Center reports considerable performance degradation and even loss of stability in autonomous soaring flight tests with the subsequent risk of an aircraft crash. The existing control schemes are concluded to suffer from limited performance. Considering the aircraft dynamics and the thermal characteristics we define a vehicle-specific trajectory optimization problem to achieve increased cross-country speed and extended range of flight. In an environment with geographically dispersed set of thermals of possibly limited lifespan, we identify the similarities to the Vehicle Routing Problem (VRP) and provide both exact and approximate guidance algorithms for the navigation of automated UAVs. An additional stochastic approach is used to quantify the performance losses due to incorrect thermal data while dealing with random gust disturbances and onboard sensor measurement inaccuracies. One of the main contributions of this research is a novel adaptive control design with

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

Science.gov (United States)

Seraji, Homayoun

1989-01-01

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

[Damage control in field surgery].

Science.gov (United States)

Samokhvalov, I M; Manukovskiĭ, V A; Badalov, V I; Severin, V V; Golovko, K P; Denisenko, V V

2011-09-01

Damage control surgery (DCS) is an important option in the store of war surgery and surgery of trauma. The main purpose of our investigation was to specify the percentage of the injured who need DCS. We performed retrospective study of the patients in the combat operations in Chechnya (1994-2002) and in peacetime (2005-2010). Total lethality in group with the standard surgical approach was 62.3%. It was significantly higher than the lethality in group of patients who underwent DCS - 50.0% (p < 0.05). Thus, the experience of DCS in War Surgery Department confirms that DCS is perspective tendency in treatment of patients with severe and extremely severe trauma, and allows decreasing lethality in 12.3%.

Adaptive Dynamic Programming for Control Algorithms and Stability

CERN Document Server

Zhang, Huaguang; Luo, Yanhong; Wang, Ding

2013-01-01

There are many methods of stable controller design for nonlinear systems. In seeking to go beyond the minimum requirement of stability, Adaptive Dynamic Programming for Control approaches the challenging topic of optimal control for nonlinear systems using the tools of  adaptive dynamic programming (ADP). The range of systems treated is extensive; affine, switched, singularly perturbed and time-delay nonlinear systems are discussed as are the uses of neural networks and techniques of value and policy iteration. The text features three main aspects of ADP in which the methods proposed for stabilization and for tracking and games benefit from the incorporation of optimal control methods: • infinite-horizon control for which the difficulty of solving partial differential Hamilton–Jacobi–Bellman equations directly is overcome, and  proof provided that the iterative value function updating sequence converges to the infimum of all the value functions obtained by admissible control law sequences; • finite-...

Assessment of Damage and Adaptation Strategies for Structures and Infrastructure from Storm Surge and Sea Level Rise for a Coastal Community in Rhode Island, United States

Directory of Open Access Journals (Sweden)

Christopher Small

2016-10-01

Full Text Available This paper presents an evaluation of inundation, erosion, and wave damage for a coastal community in Rhode Island, USA. A methodology called the Coastal Environmental Risk Index (CERI was used that incorporates levels of inundation including sea level rise, wave heights using STWAVE, and detailed information about individual structures from an E911 database. This information was input into damage functions developed by the U.S. Army Corps of Engineers following Hurricane Sandy. Damage from erosion was evaluated separately from local published erosion rates. Using CERI, two different adaptation strategies were evaluated that included a combination of dune restoration, protective berms, and a tide gate. A total of 151 out of 708 structures were estimated to be protected from inundation and wave action by the combined measures. More importantly, the use of CERI allowed for the assessment of the impact of different adaptation strategies on both individual structures and an entire community in a Geographical Information Systems (GIS environment. This tool shows promise for use by coastal managers to assess damage and mitigate risk to coastal communities.

Adaptive Feature Based Control of Compact Disk Players

DEFF Research Database (Denmark)

Odgaard, Peter Fogh; Stoustrup, Jakob; Vidal, Enrique Sanchez

2005-01-01

Many have experienced the problem that their Compact Disc players have difficulties playing Compact Discs with surface faults like scratches and fingerprints. The cause of this is due to the two servo control loops used to keep the Optical Pick-up Unit focused and radially on the information track...... of the Compact Disc. The problem is to design servo controllers which are well suited for handling surface faults which disturb the position measurement and still react sufficiently against normal disturbances like mechanical shocks. In previous work of the same authors a feature based control scheme for CD......-players playing CDs with surface fault is derived and described. This feature based control scheme uses precomputed base to remove the surface fault influence from the position measurements. In this paper an adaptive version of the feature based control scheme is proposed and described. This adaptive scheme can...

Scalable Harmonization of Complex Networks With Local Adaptive Controllers

Czech Academy of Sciences Publication Activity Database

Kárný, Miroslav; Herzallah, R.

2017-01-01

Roč. 47, č. 3 (2017), s. 394-404 ISSN 2168-2216 R&D Projects: GA ČR GA13-13502S Institutional support: RVO:67985556 Keywords : Adaptive control * Adaptive estimation * Bayes methods * Complex networks * Decentralized control * Fee dback * Fee dforward systems * Recursive estimation Subject RIV: BB - Applied Statistics, Operational Research OBOR OECD: Statistics and probability Impact factor: 2.350, year: 2016 http://library.utia.cas.cz/separaty/2016/AS/karny-0457337.pdf

STABLE ADAPTIVE CONTROL FOR A CLASS OF NONLINEAR SYSTEMS WITHOUT USE OF A SUPERVISORY TERM IN THE CONTROL LAW

Directory of Open Access Journals (Sweden)

MOHAMED BAHITA

2012-02-01

Full Text Available In this paper, a direct adaptive control scheme for a class of nonlinear systems is proposed. The architecture employs a Gaussian radial basis function (RBF network to construct an adaptive controller. The parameters of the adaptive controller are adapted and changed according to a law derived using Lyapunov stability theory. The centres of the RBF network are adapted on line using the k-means algorithm. Asymptotic Lyapunov stability is established without the use of a supervisory (compensatory term in the control law and with the tracking errors converging to a neighbourhood of the origin. Finally, a simulation is provided to explore the feasibility of the proposed neuronal controller design method.

Tactical Damage Control Resuscitation.

Science.gov (United States)

Fisher, Andrew D; Miles, Ethan A; Cap, Andrew P; Strandenes, Geir; Kane, Shawn F

2015-08-01

Recently the Committee on Tactical Combat Casualty Care changed the guidelines on fluid use in hemorrhagic shock. The current strategy for treating hemorrhagic shock is based on early use of components: Packed Red Blood Cells (PRBCs), Fresh Frozen Plasma (FFP) and platelets in a 1:1:1 ratio. We suggest that lack of components to mimic whole blood functionality favors the use of Fresh Whole Blood in managing hemorrhagic shock on the battlefield. We present a safe and practical approach for its use at the point of injury in the combat environment called Tactical Damage Control Resuscitation. We describe pre-deployment preparation, assessment of hemorrhagic shock, and collection and transfusion of fresh whole blood at the point of injury. By approaching shock with goal-directed therapy, it is possible to extend the period of survivability in combat casualties. Reprint & Copyright © 2015 Association of Military Surgeons of the U.S.

FUZZY LOGIC BASED ADAPTATION MECHANISM FOR ADAPTIVE LUENBERGER OBSERVER SENSORLESS DIRECT TORQUE CONTROL OF INDUCTION MOTOR

Directory of Open Access Journals (Sweden)

A. BENNASSAR

2016-01-01

Full Text Available Many industrial applications require high performance speed sensorless operation and demand new control methods in order to obtain fast dynamic response and insensitive to external disturbances. The current research aims to present the performance of the sensorless direct torque control (DTC of an induction motor (IM using adaptive Luenberger observer (ALO with fuzzy logic controller (FLC for adaptation mechanism. The rotor speed is regulated by proportional integral (PI anti-windup controller. The proposed strategy is directed to reduce the ripple on the torque and the flux. Numerical simulation results show the good performance and effectiveness of the proposed sensorless control for different references of the speed even both low and high speeds.

Simple adaptive control for quadcopters with saturated actuators

Science.gov (United States)

Borisov, Oleg I.; Bobtsov, Alexey A.; Pyrkin, Anton A.; Gromov, Vladislav S.

2017-01-01

The stabilization problem for quadcopters with saturated actuators is considered. A simple adaptive output control approach is proposed. The control law "consecutive compensator" is augmented with the auxiliary integral loop and anti-windup scheme. Efficiency of the obtained regulator was confirmed by simulation of the quadcopter control problem.

Robust Adaptive Neural Control of Morphing Aircraft with Prescribed Performance

Directory of Open Access Journals (Sweden)

Zhonghua Wu

2017-01-01

Full Text Available This study proposes a low-computational composite adaptive neural control scheme for the longitudinal dynamics of a swept-back wing aircraft subject to parameter uncertainties. To efficiently release the constraint often existing in conventional neural designs, whose closed-loop stability analysis always necessitates that neural networks (NNs be confined in the active regions, a smooth switching function is presented to conquer this issue. By integrating minimal learning parameter (MLP technique, prescribed performance control, and a kind of smooth switching strategy into back-stepping design, a new composite switching adaptive neural prescribed performance control scheme is proposed and a new type of adaptive laws is constructed for the altitude subsystem. Compared with previous neural control scheme for flight vehicle, the remarkable feature is that the proposed controller not only achieves the prescribed performance including transient and steady property but also addresses the constraint on NN. Two comparative simulations are presented to verify the effectiveness of the proposed controller.

Relationships between adaptation-innovation, experienced control, and state-trait anxiety.

Science.gov (United States)

Elder, R L

1989-08-01

This study examines correlations among scores on the Kirton Adaption-Innovation Inventory, the Tiffany Control Scales, and the Spielberger State-Trait Anxiety Inventory for 104 undergraduates enrolled in the general psychology classes at a middle-sized midwestern university. Analysis indicated that adaptors and innovators perceive control from and/or over some aspects of their lives differently. Innovators feel control over internal (self) and over external (environment) while adaptors feel control from internal (self) and from external (environment). These results suggest innovators generally feel that they are in control of both themselves and the environment. Adaptors, however, generally feel they are controlled by internal drives and impulses or environmental events. The present study yielded no correlation between choice of college major and adaption-innovation but more research is needed. A relation between adaption and state anxiety was found, which may suggest adaptors feel more pressure when completing a novel task (answering questionnaires) than innovators. Finally, no significant correlation was found between the Kirton scores and trait anxiety.

Adaptive Landing Gear: Optimum Control Strategy and Potential for Improvement

Directory of Open Access Journals (Sweden)

Grzegorz Mikułowski

2009-01-01

Full Text Available An adaptive landing gear is a landing gear (LG capable of active adaptation to particular landing conditions by means of controlled hydraulic force. The objective of the adaptive control is to mitigate the peak force transferred to the aircraft structure during touch-down, and thus to limit the structural fatigue factor. This paper investigates the ultimate limits for improvement due to various strategies of active control. Five strategies are proposed and investigated numerically using a~validated model of a real, passive landing gear as a reference. Potential for improvement is estimated statistically in terms of the mean and median (significant peak strut forces as well as in terms of the extended safe sinking velocity range. Three control strategies are verified experimentally using a laboratory test stand.

MTPA control of mechanical sensorless IPMSM based on adaptive nonlinear control.

Science.gov (United States)

Najjar-Khodabakhsh, Abbas; Soltani, Jafar

2016-03-01

In this paper, an adaptive nonlinear control scheme has been proposed for implementing maximum torque per ampere (MTPA) control strategy corresponding to interior permanent magnet synchronous motor (IPMSM) drive. This control scheme is developed in the rotor d-q axis reference frame using adaptive input-output state feedback linearization (AIOFL) method. The drive system control stability is supported by Lyapunov theory. The motor inductances are online estimated by an estimation law obtained by AIOFL. The estimation errors of these parameters are proved to be asymptotically converged to zero. Based on minimizing the motor current amplitude, the MTPA control strategy is performed by using the nonlinear optimization technique while considering the online reference torque. The motor reference torque is generated by a conventional rotor speed PI controller. By performing MTPA control strategy, the generated online motor d-q reference currents were used in AIOFL controller to obtain the SV-PWM reference voltages and the online estimation of the motor d-q inductances. In addition, the stator resistance is online estimated using a conventional PI controller. Moreover, the rotor position is detected using the online estimation of the stator flux and online estimation of the motor q-axis inductance. Simulation and experimental results obtained prove the effectiveness and the capability of the proposed control method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Multiple Estimation Architecture in Discrete-Time Adaptive Mixing Control

Directory of Open Access Journals (Sweden)

Simone Baldi

2013-05-01

Full Text Available Adaptive mixing control (AMC is a recently developed control scheme for uncertain plants, where the control action coming from a bank of precomputed controller is mixed based on the parameter estimates generated by an on-line parameter estimator. Even if the stability of the control scheme, also in the presence of modeling errors and disturbances, has been shown analytically, its transient performance might be sensitive to the initial conditions of the parameter estimator. In particular, for some initial conditions, transient oscillations may not be acceptable in practical applications. In order to account for such a possible phenomenon and to improve the learning capability of the adaptive scheme, in this paper a new mixing architecture is developed, involving the use of parallel parameter estimators, or multi-estimators, each one working on a small subset of the uncertainty set. A supervisory logic, using performance signals based on the past and present estimation error, selects the parameter estimate to determine the mixing of the controllers. The stability and robustness properties of the resulting approach, referred to as multi-estimator adaptive mixing control (Multi-AMC, are analytically established. Besides, extensive simulations demonstrate that the scheme improves the transient performance of the original AMC with a single estimator. The control scheme and the analysis are carried out in a discrete-time framework, for easier implementation of the method in digital control.

Spatial compression impairs prism-adaptation in healthy individuals

Directory of Open Access Journals (Sweden)

Rachel J Scriven

2013-05-01

Full Text Available Neglect patients typically present with gross inattention to one side of space following damage to the contralateral hemisphere. While prism-adaptation is effective in ameliorating some neglect behaviours, the mechanisms involved and their relationship to neglect remain unclear. Recent studies have shown that conscious strategic control processes in prism-adaptation may be impaired in neglect patients, who are also reported to show extraordinarily long aftereffects compared to healthy participants. Determining the underlying cause of these effects may be the key to understanding therapeutic benefits. Alternative accounts suggest that reduced strategic control might result from a failure to detect prism-induced reaching errors properly either because a the size of the error is underestimated in compressed visual space or b pathologically increased error detection thresholds reduce the requirement for error correction. The purpose of this study was to model these two alternatives in healthy participants and to examine whether strategic control and subsequent aftereffects were abnormal compared to standard prism adaptation. Each participant completed three prism-adaptation procedures within a MIRAGE mediated reality environment with direction errors recorded before, during and after adaptation. During prism-adaptation, visual-feedback of the reach could be compressed, perturbed by noise or represented veridically. Compressed visual space significantly reduced strategic control and aftereffects compared to control and noise conditions. These results support recent observations in neglect patients, suggesting that a distortion of spatial representation may successfully model neglect and explain neglect performance while adapting to prisms.

Error-controlled adaptive finite elements in solid mechanics

National Research Council Canada - National Science Library

Stein, Erwin; Ramm, E

2003-01-01

... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error-controlled Adaptive Finite-element-methods . . . . . . . . . . . . Missing Features and Properties of Today's General Purpose FE Programs for Structural...

Adaptive Wavelet Coding Applied in a Wireless Control System.

Science.gov (United States)

Gama, Felipe O S; Silveira, Luiz F Q; Salazar, Andrés O

2017-12-13

Wireless control systems can sense, control and act on the information exchanged between the wireless sensor nodes in a control loop. However, the exchanged information becomes susceptible to the degenerative effects produced by the multipath propagation. In order to minimize the destructive effects characteristic of wireless channels, several techniques have been investigated recently. Among them, wavelet coding is a good alternative for wireless communications for its robustness to the effects of multipath and its low computational complexity. This work proposes an adaptive wavelet coding whose parameters of code rate and signal constellation can vary according to the fading level and evaluates the use of this transmission system in a control loop implemented by wireless sensor nodes. The performance of the adaptive system was evaluated in terms of bit error rate (BER) versus E b / N 0 and spectral efficiency, considering a time-varying channel with flat Rayleigh fading, and in terms of processing overhead on a control system with wireless communication. The results obtained through computational simulations and experimental tests show performance gains obtained by insertion of the adaptive wavelet coding in a control loop with nodes interconnected by wireless link. These results enable the use of this technique in a wireless link control loop.

Adaptive Wavelet Coding Applied in a Wireless Control System

Directory of Open Access Journals (Sweden)

Felipe O. S. Gama

2017-12-01

Full Text Available Wireless control systems can sense, control and act on the information exchanged between the wireless sensor nodes in a control loop. However, the exchanged information becomes susceptible to the degenerative effects produced by the multipath propagation. In order to minimize the destructive effects characteristic of wireless channels, several techniques have been investigated recently. Among them, wavelet coding is a good alternative for wireless communications for its robustness to the effects of multipath and its low computational complexity. This work proposes an adaptive wavelet coding whose parameters of code rate and signal constellation can vary according to the fading level and evaluates the use of this transmission system in a control loop implemented by wireless sensor nodes. The performance of the adaptive system was evaluated in terms of bit error rate (BER versus E b / N 0 and spectral efficiency, considering a time-varying channel with flat Rayleigh fading, and in terms of processing overhead on a control system with wireless communication. The results obtained through computational simulations and experimental tests show performance gains obtained by insertion of the adaptive wavelet coding in a control loop with nodes interconnected by wireless link. These results enable the use of this technique in a wireless link control loop.

Linear feedback control, adaptive feedback control and their combination for chaos (lag) synchronization of LC chaotic systems

International Nuclear Information System (INIS)

Yan Zhenya; Yu Pei

2007-01-01

In this paper, we study chaos (lag) synchronization of a new LC chaotic system, which can exhibit not only a two-scroll attractor but also two double-scroll attractors for different parameter values, via three types of state feedback controls: (i) linear feedback control; (ii) adaptive feedback control; and (iii) a combination of linear feedback and adaptive feedback controls. As a consequence, ten families of new feedback control laws are designed to obtain global chaos lag synchronization for τ < 0 and global chaos synchronization for τ = 0 of the LC system. Numerical simulations are used to illustrate these theoretical results. Each family of these obtained feedback control laws, including two linear (adaptive) functions or one linear function and one adaptive function, is added to two equations of the LC system. This is simpler than the known synchronization controllers, which apply controllers to all equations of the LC system. Moreover, based on the obtained results of the LC system, we also derive the control laws for chaos (lag) synchronization of another new type of chaotic system

Cooperative adaptive cruise control : tradeoffs between control and network specifications

NARCIS (Netherlands)

Oncu, S.; Wouw, van de N.; Nijmeijer, H.

2011-01-01

In this study, we consider a Cooperative Adaptive Cruise Control (CACC) system which regulates inter-vehicle distances in a vehicle string. Improved performance can be achieved by utilizing information exchange between vehicles through wireless communication besides local sensor measurements.

Adaptive Neural Network Algorithm for Power Control in Nuclear Power Plants

International Nuclear Information System (INIS)

Husam Fayiz, Al Masri

2017-01-01

The aim of this paper is to design, test and evaluate a prototype of an adaptive neural network algorithm for the power controlling system of a nuclear power plant. The task of power control in nuclear reactors is one of the fundamental tasks in this field. Therefore, researches are constantly conducted to ameliorate the power reactor control process. Currently, in the Department of Automation in the National Research Nuclear University (NRNU) MEPhI, numerous studies are utilizing various methodologies of artificial intelligence (expert systems, neural networks, fuzzy systems and genetic algorithms) to enhance the performance, safety, efficiency and reliability of nuclear power plants. In particular, a study of an adaptive artificial intelligent power regulator in the control systems of nuclear power reactors is being undertaken to enhance performance and to minimize the output error of the Automatic Power Controller (APC) on the grounds of a multifunctional computer analyzer (simulator) of the Water-Water Energetic Reactor known as Vodo-Vodyanoi Energetichesky Reaktor (VVER) in Russian. In this paper, a block diagram of an adaptive reactor power controller was built on the basis of an intelligent control algorithm. When implementing intelligent neural network principles, it is possible to improve the quality and dynamic of any control system in accordance with the principles of adaptive control. It is common knowledge that an adaptive control system permits adjusting the controller’s parameters according to the transitions in the characteristics of the control object or external disturbances. In this project, it is demonstrated that the propitious options for an automatic power controller in nuclear power plants is a control system constructed on intelligent neural network algorithms. (paper)

An adaptable Boolean net trainable to control a computing robot

International Nuclear Information System (INIS)

Lauria, F. E.; Prevete, R.; Milo, M.; Visco, S.

1999-01-01

We discuss a method to implement in a Boolean neural network a Hebbian rule so to obtain an adaptable universal control system. We start by presenting both the Boolean neural net and the Hebbian rule we have considered. Then we discuss, first, the problems arising when the latter is naively implemented in a Boolean neural net, second, the method consenting us to overcome them and the ensuing adaptable Boolean neural net paradigm. Next, we present the adaptable Boolean neural net as an intelligent control system, actually controlling a writing robot, and discuss how to train it in the execution of the elementary arithmetic operations on operands represented by numerals with an arbitrary number of digits

A Dung Beetle-like Leg and its Adaptive Neural Control

DEFF Research Database (Denmark)

Di Canio, Giuliano; Stoyanov, Stoyan; Larsen, Jørgen Christian

2016-01-01

Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external pe...... also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps....

Adaptive fuzzy sliding-mode control for multi-input multi-output chaotic systems

International Nuclear Information System (INIS)

Poursamad, Amir; Markazi, Amir H.D.

2009-01-01

This paper describes an adaptive fuzzy sliding-mode control algorithm for controlling unknown or uncertain, multi-input multi-output (MIMO), possibly chaotic, dynamical systems. The control approach encompasses a fuzzy system and a robust controller. The fuzzy system is designed to mimic an ideal sliding-mode controller, and the robust controller compensates the difference between the fuzzy controller and the ideal one. The parameters of the fuzzy system, as well as the uncertainty bound of the robust controller, are tuned adaptively. The adaptive laws are derived in the Lyapunov sense to guarantee the asymptotic stability and tracking of the controlled system. The effectiveness of the proposed method is shown by applying it to some well-known chaotic systems.

An adaptive control application in a large thermal combined power plant

International Nuclear Information System (INIS)

Kocaarslan, Ilhan; Cam, Ertugrul

2007-01-01

In this paper, an adaptive controller was applied to a 765 MW large thermal power plant to decrease operating costs, increase quality of generated electricity and satisfy environmental concerns. Since power plants may present several operating problems such as disturbances and severe effects at operating points, design of their controllers needs to be carried out adequately. For these reasons, first, a reduced mathematical model was developed under Computer Aided Analysis and Design Package for Control (CADACS), so that the results of the experimental model have briefly been discussed. Second, conventional PID and adaptive controllers were designed and implemented under the real-time environment of the CADACS software. Additionally, the design of the adaptive model-reference and conventional PID controllers used in the power plant for real-time control were theoretically presented. All processes were realized in real-time. Due to safety restrictions, a direct connection to the sensors and actuators of the plant was not allowed. Instead a coupling to the control system was realized. This offers, in addition, the usage of the supervisory functions of an industrial process computer system. Application of the controllers indicated that the proposed adaptive controller has better performances for rise and settling times of electrical power, and enthalpy outputs than the conventional PID controller does

Applications of Adaptive Learning Controller to Synthetic Aperture Radar.

Science.gov (United States)

1985-02-01

TERMS (Continue on retuerse if necessary and identify by block num ber) FIELD YGROUP SUB. GR. Adaptive control, aritificial intelligence , synthetic aetr1...application of Artificial Intelligence methods to Synthetic Aperture Radars (SARs) is investigated. It was shown that the neuron-like Adaptive Learning...wavelength Al SE!RI M RADAR DIVISION REFERENCES 1. Barto, A.G. and R.S. Sutton, Goal Seeking Components for Adaptive Intelligence : An Initial Assessment

Adaptive control of chaotic continuous-time systems with delay

Science.gov (United States)

Tian, Yu-Chu; Gao, Furong

1998-06-01

A simple delay system governed by a first-order differential-delay equation may behave chaotically, but the conditions for the system to have such behaviors have not been well recognized. In this paper, a set of rules is postulated first for the conditions for the delay system to display chaos. A model-reference adaptive control scheme is then proposed to control the chaotic system state to converge to an arbitrarily given reference trajectory with certain and uncertain system parameters. Numerical examples are given to analyze the chaotic behaviors of the delay system and to demonstrate the effectiveness of the proposed adaptive control scheme.

Adaptive Control for Linear Uncertain Systems with Unmodeled Dynamics Revisited via Optimal Control Modification

Science.gov (United States)

Nguyen, Nhan

2013-01-01

This paper presents the optimal control modification for linear uncertain plants. The Lyapunov analysis shows that the modification parameter has a limiting value depending on the nature of the uncertainty. The optimal control modification exhibits a linear asymptotic property that enables it to be analyzed in a linear time invariant framework for linear uncertain plants. The linear asymptotic property shows that the closed-loop plants in the limit possess a scaled input-output mapping. Using this property, we can derive an analytical closed-loop transfer function in the limit as the adaptive gain tends to infinity. The paper revisits the Rohrs counterexample problem that illustrates the nature of non-robustness of model-reference adaptive control in the presence of unmodeled dynamics. An analytical approach is developed to compute exactly the modification parameter for the optimal control modification that stabilizes the plant in the Rohrs counterexample. The linear asymptotic property is also used to address output feedback adaptive control for non-minimum phase plants with a relative degree 1.

Model and experiments to optimize co-adaptation in a simplified myoelectric control system.

Science.gov (United States)

Couraud, M; Cattaert, D; Paclet, F; Oudeyer, P Y; de Rugy, A

2018-04-01

To compensate for a limb lost in an amputation, myoelectric prostheses use surface electromyography (EMG) from the remaining muscles to control the prosthesis. Despite considerable progress, myoelectric controls remain markedly different from the way we normally control movements, and require intense user adaptation. To overcome this, our goal is to explore concurrent machine co-adaptation techniques that are developed in the field of brain-machine interface, and that are beginning to be used in myoelectric controls. We combined a simplified myoelectric control with a perturbation for which human adaptation is well characterized and modeled, in order to explore co-adaptation settings in a principled manner. First, we reproduced results obtained in a classical visuomotor rotation paradigm in our simplified myoelectric context, where we rotate the muscle pulling vectors used to reconstruct wrist force from EMG. Then, a model of human adaptation in response to directional error was used to simulate various co-adaptation settings, where perturbations and machine co-adaptation are both applied on muscle pulling vectors. These simulations established that a relatively low gain of machine co-adaptation that minimizes final errors generates slow and incomplete adaptation, while higher gains increase adaptation rate but also errors by amplifying noise. After experimental verification on real subjects, we tested a variable gain that cumulates the advantages of both, and implemented it with directionally tuned neurons similar to those used to model human adaptation. This enables machine co-adaptation to locally improve myoelectric control, and to absorb more challenging perturbations. The simplified context used here enabled to explore co-adaptation settings in both simulations and experiments, and to raise important considerations such as the need for a variable gain encoded locally. The benefits and limits of extending this approach to more complex and functional

Model and experiments to optimize co-adaptation in a simplified myoelectric control system

Science.gov (United States)

Couraud, M.; Cattaert, D.; Paclet, F.; Oudeyer, P. Y.; de Rugy, A.

2018-04-01

Objective. To compensate for a limb lost in an amputation, myoelectric prostheses use surface electromyography (EMG) from the remaining muscles to control the prosthesis. Despite considerable progress, myoelectric controls remain markedly different from the way we normally control movements, and require intense user adaptation. To overcome this, our goal is to explore concurrent machine co-adaptation techniques that are developed in the field of brain-machine interface, and that are beginning to be used in myoelectric controls. Approach. We combined a simplified myoelectric control with a perturbation for which human adaptation is well characterized and modeled, in order to explore co-adaptation settings in a principled manner. Results. First, we reproduced results obtained in a classical visuomotor rotation paradigm in our simplified myoelectric context, where we rotate the muscle pulling vectors used to reconstruct wrist force from EMG. Then, a model of human adaptation in response to directional error was used to simulate various co-adaptation settings, where perturbations and machine co-adaptation are both applied on muscle pulling vectors. These simulations established that a relatively low gain of machine co-adaptation that minimizes final errors generates slow and incomplete adaptation, while higher gains increase adaptation rate but also errors by amplifying noise. After experimental verification on real subjects, we tested a variable gain that cumulates the advantages of both, and implemented it with directionally tuned neurons similar to those used to model human adaptation. This enables machine co-adaptation to locally improve myoelectric control, and to absorb more challenging perturbations. Significance. The simplified context used here enabled to explore co-adaptation settings in both simulations and experiments, and to raise important considerations such as the need for a variable gain encoded locally. The benefits and limits of extending this

Adaptive Automation Based on Air Traffic Controller Decision-Making

NARCIS (Netherlands)

IJtsma (Student TU Delft), Martijn; Borst, C.; Mercado Velasco, G.A.; Mulder, M.; van Paassen, M.M.; Tsang, P.S.; Vidulich, M.A.

2017-01-01

Through smart scheduling and triggering of automation support, adaptive automation has the potential to balance air traffic controller workload. The challenge in the design of adaptive automation systems is to decide how and when the automation should provide support. This paper describes the design

A Methodology for Investigating Adaptive Postural Control

Science.gov (United States)

McDonald, P. V.; Riccio, G. E.

1999-01-01

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of

Parameter Estimation Analysis for Hybrid Adaptive Fault Tolerant Control

Science.gov (United States)

Eshak, Peter B.

Research efforts have increased in recent years toward the development of intelligent fault tolerant control laws, which are capable of helping the pilot to safely maintain aircraft control at post failure conditions. Researchers at West Virginia University (WVU) have been actively involved in the development of fault tolerant adaptive control laws in all three major categories: direct, indirect, and hybrid. The first implemented design to provide adaptation was a direct adaptive controller, which used artificial neural networks to generate augmentation commands in order to reduce the modeling error. Indirect adaptive laws were implemented in another controller, which utilized online PID to estimate and update the controller parameter. Finally, a new controller design was introduced, which integrated both direct and indirect control laws. This controller is known as hybrid adaptive controller. This last control design outperformed the two earlier designs in terms of less NNs effort and better tracking quality. The performance of online PID has an important role in the quality of the hybrid controller; therefore, the quality of the estimation will be of a great importance. Unfortunately, PID is not perfect and the online estimation process has some inherited issues; the online PID estimates are primarily affected by delays and biases. In order to ensure updating reliable estimates to the controller, the estimator consumes some time to converge. Moreover, the estimator will often converge to a biased value. This thesis conducts a sensitivity analysis for the estimation issues, delay and bias, and their effect on the tracking quality. In addition, the performance of the hybrid controller as compared to direct adaptive controller is explored. In order to serve this purpose, a simulation environment in MATLAB/SIMULINK has been created. The simulation environment is customized to provide the user with the flexibility to add different combinations of biases and delays to

Substantiation of Structure of Adaptive Control Systems for Motor Units

Science.gov (United States)

Ovsyannikov, S. I.

2018-05-01

The article describes the development of new electronic control systems, in particular motor units, for small-sized agricultural equipment. Based on the analysis of traffic control systems, the main course of development of the conceptual designs of motor units has been defined. The systems aimed to control the course motion of the motor unit in automatic mode using the adaptive systems have been developed. The article presents structural models of the conceptual motor units based on electrically controlled systems by the operation of drive motors and adaptive systems that make the motor units completely automated.

Adaptive Control of a Wearable Exoskeleton for Upper-Extremity Neurorehabilitation

Directory of Open Access Journals (Sweden)

Sivakumar Balasubramanian

2012-01-01

Full Text Available The paper describes the implementation and testing of two adaptive controllers developed for a wearable, underactuated upper extremity therapy robot – RUPERT (Robotic Upper Extremity Repetitive Trainer. The controllers developed in this study were used to implement two adaptive robotic therapy modes – the adaptive co-operative mode and the adaptive active-assist mode – that are based on two different approaches for providing robotic assistance for task practice. The adaptive active-assist mode completes therapy tasks when a subject is unable to do so voluntarily. This robotic therapy mode is a novel implementation of the idea of an active-assist therapy mode; it utilizes the measure of a subject’s motor ability, along with their real-time movement kinematics to initiate robotic assistance at the appropriate time during a movement trial. The adaptive co-operative mode, on the other hand, is based on the idea of enabling task completion instead of completing the task for the subject. Both these therapy modes were designed to adapt to a stroke subject's motor ability, and thus encourage voluntary participation from the stroke subject. The two controllers were tested on three stroke subjects practicing robot-assisted reaching movements. The results from this testing demonstrate that an underactuated wearable exoskeleton, such as RUPERT, can be used for administering robot-assisted therapy, in a manner that encourages voluntary participation from the subject undergoing therapy.

Impact-Induced Muscle Damage and Contact-Sport: Aetiology, Effects on Neuromuscular Function and Recovery, and the Modulating Effects of Adaptation and Recovery Strategies.

Science.gov (United States)

Naughton, Mitchell; Miller, Joanna; Slater, Gary J

2017-11-28

Athletes involved in contact-sports are habitually exposed to skeletal muscle damage as part of their training and performance environments. This often leads to exercise-induced muscle damage (EIMD) resulting from repeated eccentric and/or high-intensity exercise, and impact-induced muscle damage (IIMD) resulting from collisions with opponents and the playing surface. Whilst EIMD has been an area of extensive investigation, IIMD has received comparatively little research, with the magnitude and timeframe of alterations following IIMD not presently well understood. It is currently thought that EIMD occurs through an overload of mechanical stress causing ultrastructural damage to the cellular membrane constituents. Damage leads to compromised ability to produce force which manifest immediately and persist for up to 14 days following exercise exposure. IIMD has been implicated in attenuated neuromuscular performance and recovery with inflammatory process implicated, although the underlying time course remains unclear. Exposure to EIMD leads to an adaptation to subsequent exposures, a phenomenon known as the repeated-bout effect. An analogous adaptation has been suggested to occur following IIMD, however, to date this contention remains equivocal. Whilst a considerable body of research has explored the efficacy of recovery strategies following EIMD, strategies promoting recovery from IIMD are limited to investigations using animal contusion models. Strategies such as cryotherapy and antioxidant supplementation, which focus on attenuating the secondary inflammatory response may provide additional benefit in IIMD and are explored herein. Further research is required to firstly establish a model of generating IIMD and then explore broader areas around IIMD in athletic populations.

Comparison between iterative wavefront control algorithm and direct gradient wavefront control algorithm for adaptive optics system

International Nuclear Information System (INIS)

Cheng Sheng-Yi; Liu Wen-Jin; Chen Shan-Qiu; Dong Li-Zhi; Yang Ping; Xu Bing

2015-01-01

Among all kinds of wavefront control algorithms in adaptive optics systems, the direct gradient wavefront control algorithm is the most widespread and common method. This control algorithm obtains the actuator voltages directly from wavefront slopes through pre-measuring the relational matrix between deformable mirror actuators and Hartmann wavefront sensor with perfect real-time characteristic and stability. However, with increasing the number of sub-apertures in wavefront sensor and deformable mirror actuators of adaptive optics systems, the matrix operation in direct gradient algorithm takes too much time, which becomes a major factor influencing control effect of adaptive optics systems. In this paper we apply an iterative wavefront control algorithm to high-resolution adaptive optics systems, in which the voltages of each actuator are obtained through iteration arithmetic, which gains great advantage in calculation and storage. For AO system with thousands of actuators, the computational complexity estimate is about O(n 2 ) ∼ O(n 3 ) in direct gradient wavefront control algorithm, while the computational complexity estimate in iterative wavefront control algorithm is about O(n) ∼ (O(n) 3/2 ), in which n is the number of actuators of AO system. And the more the numbers of sub-apertures and deformable mirror actuators, the more significant advantage the iterative wavefront control algorithm exhibits. (paper)

Bioelectric Control of a 757 Class High Fidelity Aircraft Simulation

Science.gov (United States)

Jorgensen, Charles; Wheeler, Kevin; Stepniewski, Slawomir; Norvig, Peter (Technical Monitor)

2000-01-01

This paper presents results of a recent experiment in fine grain Electromyographic (EMG) signal recognition, We demonstrate bioelectric flight control of 757 class simulation aircraft landing at San Francisco International Airport. The physical instrumentality of a pilot control stick is not used. A pilot closes a fist in empty air and performs control movements which are captured by a dry electrode array on the arm, analyzed and routed through a flight director permitting full pilot outer loop control of the simulation. A Vision Dome immersive display is used to create a VR world for the aircraft body mechanics and flight changes to pilot movements. Inner loop surfaces and differential aircraft thrust is controlled using a hybrid neural network architecture that combines a damage adaptive controller (Jorgensen 1998, Totah 1998) with a propulsion only based control system (Bull & Kaneshige 1997). Thus the 757 aircraft is not only being flown bioelectrically at the pilot level but also demonstrates damage adaptive neural network control permitting adaptation to severe changes in the physical flight characteristics of the aircraft at the inner loop level. To compensate for accident scenarios, the aircraft uses remaining control surface authority and differential thrust from the engines. To the best of our knowledge this is the first time real time bioelectric fine-grained control, differential thrust based control, and neural network damage adaptive control have been integrated into a single flight demonstration. The paper describes the EMG pattern recognition system and the bioelectric pattern recognition methodology.

Reshaping the brain after stroke: The effect of prismatic adaptation in patients with right brain damage.

Science.gov (United States)

Crottaz-Herbette, Sonia; Fornari, Eleonora; Notter, Michael P; Bindschaedler, Claire; Manzoni, Laura; Clarke, Stephanie

2017-09-01

Prismatic adaptation has been repeatedly reported to alleviate neglect symptoms; in normal subjects, it was shown to enhance the representation of the left visual space within the left inferior parietal cortex. Our study aimed to determine in humans whether similar compensatory mechanisms underlie the beneficial effect of prismatic adaptation in neglect. Fifteen patients with right hemispheric lesions and 11 age-matched controls underwent a prismatic adaptation session which was preceded and followed by fMRI using a visual detection task. In patients, the prismatic adaptation session improved the accuracy of target detection in the left and central space and enhanced the representation of this visual space within the left hemisphere in parts of the temporal convexity, inferior parietal lobule and prefrontal cortex. Across patients, the increase in neuronal activation within the temporal regions correlated with performance improvements in this visual space. In control subjects, prismatic adaptation enhanced the representation of the left visual space within the left inferior parietal lobule and decreased it within the left temporal cortex. Thus, a brief exposure to prismatic adaptation enhances, both in patients and in control subjects, the competence of the left hemisphere for the left space, but the regions extended beyond the inferior parietal lobule to the temporal convexity in patients. These results suggest that the left hemisphere provides compensatory mechanisms in neglect by assuming the representation of the whole space within the ventral attentional system. The rapidity of the change suggests that the underlying mechanism relies on uncovering pre-existing synaptic connections. Copyright © 2017 Elsevier Ltd. All rights reserved.

Attractive manifold-based adaptive solar attitude control of satellites in elliptic orbits

Science.gov (United States)

Lee, Keum W.; Singh, Sahjendra N.

2011-01-01

The paper presents a novel noncertainty-equivalent adaptive (NCEA) control system for the pitch attitude control of satellites in elliptic orbits using solar radiation pressure (SRP). The satellite is equipped with two identical solar flaps to produce control moments. The adaptive law is based on the attractive manifold design using filtered signals for synthesis, which is a modification of the immersion and invariance (I&I) method. The control system has a modular controller-estimator structure and has separate tunable gains. A special feature of this NCEA law is that the trajectories of the satellite converge to a manifold in an extended state space, and the adaptive law recovers the performance of a deterministic controller. This recovery of performance cannot be obtained with certainty-equivalent adaptive (CEA) laws. Simulation results are presented which show that the NCEA law accomplishes precise attitude control of the satellite in an elliptic orbit, despite large parameter uncertainties.

Adaptive training of neural networks for control of autonomous mobile robots

NARCIS (Netherlands)

Steur, E.; Vromen, T.; Nijmeijer, H.; Fossen, T.I.; Nijmeijer, H.; Pettersen, K.Y.

2017-01-01

We present an adaptive training procedure for a spiking neural network, which is used for control of a mobile robot. Because of manufacturing tolerances, any hardware implementation of a spiking neural network has non-identical nodes, which limit the performance of the controller. The adaptive

On the necessity of identifying the true parameter in adaptive LQ control

NARCIS (Netherlands)

Polderman, Jan W.

1986-01-01

In adaptive control problems one may drop the requirement of identifying the true system in order to simplify the problem of control. It will be shown that in the adaptive LQ control problem this does not at all lead to an easier problem.

L(sub 1) Adaptive Control Design for NASA AirSTAR Flight Test Vehicle

Science.gov (United States)

Gregory, Irene M.; Cao, Chengyu; Hovakimyan, Naira; Zou, Xiaotian

2009-01-01

In this paper we present a new L(sub 1) adaptive control architecture that directly compensates for matched as well as unmatched system uncertainty. To evaluate the L(sub 1) adaptive controller, we take advantage of the flexible research environment with rapid prototyping and testing of control laws in the Airborne Subscale Transport Aircraft Research system at the NASA Langley Research Center. We apply the L(sub 1) adaptive control laws to the subscale turbine powered Generic Transport Model. The presented results are from a full nonlinear simulation of the Generic Transport Model and some preliminary pilot evaluations of the L(sub 1) adaptive control law.

Climate Science and the Responsibilities of Fossil Fuel Companies for Climate Damages and Adaptation

Science.gov (United States)

Frumhoff, P. C.; Ekwurzel, B.

2017-12-01

Policymakers in several jurisdictions are now considering whether fossil fuel companies might bear some legal responsibility for climate damages and the costs of adaptation to climate change potentially traceable to the emissions from their marketed products. Here, we explore how scientific research, outreach and direct engagement with industry leaders and shareholders have informed and may continue to inform such developments. We present the results of new climate model research quantifying the contribution of carbon dioxide and methane emissions traced to individual fossil fuel companies to changes in global temperature and sea level; explore the impact of such research and outreach on both legal and broader societal consideration of company responsibility; and discuss the opportunities and challenges for scientists to engage in further work in this area.

Adaptive Incentive Controls for Stackelberg Games with Unknown Cost Functionals.

Science.gov (United States)

1984-01-01

APR EZT:: F I AN 73S e OsL:-: UNCLASSI?:-- Q4~.’~- .A.., 6, *~*i i~~*~~*.- U ADAPTIVE INCENTIVE CONTROLS FOR STACKELBERG GAMES WITH UNKNOWN COST...AD-A161 885 ADAPTIVE INCENTIVE CONTROLS FOR STACKELBERG GAMES WITH i/1 UNKNOWN COST FUNCTIONALSCU) ILLINOIS UNIV AT URBANA DECISION AND CONTROL LAB T...ORGANIZATION 6b. OFFICE SYMBOL 7.. NAME OF MONITORING ORGANIZATION CoriaeLcenef~pda~ Joint Services Electronics Program Laboratory, Univ. of Illinois N/A

An adaptive predictive controller and its applications in power stations

Energy Technology Data Exchange (ETDEWEB)

Yang Zhiyuan; Lu Huiming; Zhang Xinggao [North China Electric Power University, Beijing (China); Song Chunping [Tsinghua University, Beijing (China). Dept. of Thermal Energy Engineering

1999-07-01

Based on the objective function in the form of integration of generalized model error, a globally convergent model reference adaptive predictive control algorithm (MRAPC) containing inertia-time compensators is presented in this paper. MRAPC has been successfully applied to control important thermal process of more than 20 units in many Chinese power stations. In this paper three representative examples are described. Continual operation results for years demonstrate that MRAPC is a successful attempt for the practical applications of adaptive control techniques. (author)

Nonlinear adaptive PID control for greenhouse environment based on RBF network.

Science.gov (United States)

Zeng, Songwei; Hu, Haigen; Xu, Lihong; Li, Guanghui

2012-01-01

This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA) to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production.

Adaptive Sensing and Control for Flexible Transmission in a Turbulent Medium. Adaptive Laser Beam Control Using Return Photon Statistics

National Research Council Canada - National Science Library

Lukesh, Gordon

2004-01-01

.... Pointing estimates are available after 25 shots. As a prime example of the utility and feasibility, estimates of boresight will be available to adaptively control pointing with a goal of boresight reduction via feedback...

The beauty of simple adaptive control and new developments in nonlinear systems stability analysis

Energy Technology Data Exchange (ETDEWEB)

Barkana, Itzhak, E-mail: ibarkana@gmail.com [BARKANA Consulting, Ramat Hasharon (Israel)

2014-12-10

Although various adaptive control techniques have been around for a long time and in spite of successful proofs of stability and even successful demonstrations of performance, the eventual use of adaptive control methodologies in practical real world systems has met a rather strong resistance from practitioners and has remained limited. Apparently, it is difficult to guarantee or even understand the conditions that can guarantee stable operations of adaptive control systems under realistic operational environments. Besides, it is difficult to measure the robustness of adaptive control system stability and allow it to be compared with the common and widely used measure of phase margin and gain margin that is utilized by present, mainly LTI, controllers. Furthermore, customary stability analysis methods seem to imply that the mere stability of adaptive systems may be adversely affected by any tiny deviation from the pretty idealistic and assumably required stability conditions. This paper first revisits the fundamental qualities of customary direct adaptive control methodologies, in particular the classical Model Reference Adaptive Control, and shows that some of their basic drawbacks have been addressed and eliminated within the so-called Simple Adaptive Control methodology. Moreover, recent developments in the stability analysis methods of nonlinear systems show that prior conditions that were customarily assumed to be needed for stability are only apparent and can be eliminated. As a result, sufficient conditions that guarantee stability are clearly stated and lead to similarly clear proofs of stability. As many real-world applications show, once robust stability of the adaptive systems can be guaranteed, the added value of using Add-On Adaptive Control along with classical Control design techniques is pushing the desired performance beyond any previous limits.

Embedded intelligent adaptive PI controller for an electromechanical system.

Science.gov (United States)

El-Nagar, Ahmad M

2016-09-01

In this study, an intelligent adaptive controller approach using the interval type-2 fuzzy neural network (IT2FNN) is presented. The proposed controller consists of a lower level proportional - integral (PI) controller, which is the main controller and an upper level IT2FNN which tuning on-line the parameters of a PI controller. The proposed adaptive PI controller based on IT2FNN (API-IT2FNN) is implemented practically using the Arduino DUE kit for controlling the speed of a nonlinear DC motor-generator system. The parameters of the IT2FNN are tuned on-line using back-propagation algorithm. The Lyapunov theorem is used to derive the stability and convergence of the IT2FNN. The obtained experimental results, which are compared with other controllers, demonstrate that the proposed API-IT2FNN is able to improve the system response over a wide range of system uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Correlations in state space can cause sub-optimal adaptation of optimal feedback control models.

Science.gov (United States)

Aprasoff, Jonathan; Donchin, Opher

2012-04-01

Control of our movements is apparently facilitated by an adaptive internal model in the cerebellum. It was long thought that this internal model implemented an adaptive inverse model and generated motor commands, but recently many reject that idea in favor of a forward model hypothesis. In theory, the forward model predicts upcoming state during reaching movements so the motor cortex can generate appropriate motor commands. Recent computational models of this process rely on the optimal feedback control (OFC) framework of control theory. OFC is a powerful tool for describing motor control, it does not describe adaptation. Some assume that adaptation of the forward model alone could explain motor adaptation, but this is widely understood to be overly simplistic. However, an adaptive optimal controller is difficult to implement. A reasonable alternative is to allow forward model adaptation to 're-tune' the controller. Our simulations show that, as expected, forward model adaptation alone does not produce optimal trajectories during reaching movements perturbed by force fields. However, they also show that re-optimizing the controller from the forward model can be sub-optimal. This is because, in a system with state correlations or redundancies, accurate prediction requires different information than optimal control. We find that adding noise to the movements that matches noise found in human data is enough to overcome this problem. However, since the state space for control of real movements is far more complex than in our simple simulations, the effects of correlations on re-adaptation of the controller from the forward model cannot be overlooked.

Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

Directory of Open Access Journals (Sweden)

Guofeng Tong

2014-04-01

Full Text Available This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

Flexible Microgrid Power Quality Enhancement Using Adaptive Hybrid Voltage and Current Controller

DEFF Research Database (Denmark)

He, Jinwei; Li, Yun Wei; Blaabjerg, Frede

2014-01-01

-pass/bandpass filters in the DG unit digital controller. Moreover, phase-locked loops are not necessary as the microgrid frequency deviation can be automatically identified by the power control loop. Consequently, the proposed control method provides opportunities to reduce DG control complexity, without affecting......To accomplish superior harmonic compensation performance using distributed generation (DG) unit power electronics interfaces, an adaptive hybrid voltage and current controlled method (HCM) is proposed in this paper. It shows that the proposed adaptive HCM can reduce the numbers of low...... the harmonic compensation performance. Comprehensive simulated and experimental results from a single-phase microgrid are provided to verify the feasibility of the proposed adaptive HCM approach....

Adaptive control in multi-threaded iterated integration

International Nuclear Information System (INIS)

Doncker, Elise de; Yuasa, Fukuko

2013-01-01

In recent years we have developed a technique for the direct computation of Feynman loop-integrals, which are notorious for the occurrence of integrand singularities. Especially for handling singularities in the interior of the domain, we approximate the iterated integral using an adaptive algorithm in the coordinate directions. We present a novel multi-core parallelization scheme for adaptive multivariate integration, by assigning threads to the rule evaluations in the outer dimensions of the iterated integral. The method ensures a large parallel granularity as each function evaluation by itself comprises an integral over the lower dimensions, while the application of the threads is governed by the adaptive control in the outer level. We give computational results for a test set of 3- to 6-dimensional integrals, where several problems exhibit a loop integral behavior.

Adaptive Observer-Based Fault-Tolerant Control Design for Uncertain Systems

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Huaming Qian

2015-01-01

Full Text Available This study focuses on the design of the robust fault-tolerant control (FTC system based on adaptive observer for uncertain linear time invariant (LTI systems. In order to improve robustness, rapidity, and accuracy of traditional fault estimation algorithm, an adaptive fault estimation algorithm (AFEA using an augmented observer is presented. By utilizing a new fault estimator model, an improved AFEA based on linear matrix inequality (LMI technique is proposed to increase the performance. Furthermore, an observer-based state feedback fault-tolerant control strategy is designed, which guarantees the stability and performance of the faulty system. Moreover, the adaptive observer and the fault-tolerant controller are designed separately, whose performance can be considered, respectively. Finally, simulation results of an aircraft application are presented to illustrate the effectiveness of the proposed design methods.

Control of input delayed pneumatic vibration isolation table using adaptive fuzzy sliding mode

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Mostafa Khazaee

Full Text Available AbstractPneumatic isolators are promising candidates for increasing the quality of accurate instruments. For this purpose, higher performance of such isolators is a prerequisite. In particular, the time-delay due to the air transmission is an inherent issue with pneumatic systems, which needs to be overcome using modern control methods. In this paper an adaptive fuzzy sliding mode controller is proposed to improve the performance of a pneumatic isolator in the low frequency range, i.e., where the passive techniques have obvious shortcomings. The main idea is to combine the adaptive fuzzy controller with adaptive predictor as a new time delay control technique. The adaptive fuzzy sliding mode control and the adaptive fuzzy predictor help to circumvent the input delay and nonlinearities in such isolators. The main advantage of the proposed method is that the closed-loop system stability is guaranteed under certain conditions. Simulation results reveal the effectiveness of the proposed method, compared with other existing time -delay control methods.

Incremental Adaptive Fuzzy Control for Sensorless Stroke Control of A Halbach-type Linear Oscillatory Motor

Science.gov (United States)

Lei, Meizhen; Wang, Liqiang

2018-01-01

The halbach-type linear oscillatory motor (HT-LOM) is multi-variable, highly coupled, nonlinear and uncertain, and difficult to get a satisfied result by conventional PID control. An incremental adaptive fuzzy controller (IAFC) for stroke tracking was presented, which combined the merits of PID control, the fuzzy inference mechanism and the adaptive algorithm. The integral-operation is added to the conventional fuzzy control algorithm. The fuzzy scale factor can be online tuned according to the load force and stroke command. The simulation results indicate that the proposed control scheme can achieve satisfied stroke tracking performance and is robust with respect to parameter variations and external disturbance.

Adaptive Gas Turbine Engine Control for Deterioration Compensation Due to Aging

Science.gov (United States)

Litt, Jonathan S.; Parker, Khary I.; Chatterjee, Santanu

2003-01-01

This paper presents an ad hoc adaptive, multivariable controller tuning rule that compensates for a thrust response variation in an engine whose performance has been degraded though use and wear. The upset appears when a large throttle transient is performed such that the engine controller switches from low-speed to high-speed mode. A relationship was observed between the level of engine degradation and the overshoot in engine temperature ratio, which was determined to cause the thrust response variation. This relationship was used to adapt the controller. The method is shown to work very well up to the operability limits of the engine. Additionally, since the level of degradation can be estimated from sensor data, it would be feasible to implement the adaptive control algorithm on-line.

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

Science.gov (United States)

VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

2014-01-01

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

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M. Navabi

Full Text Available Abstract This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO is developed for multi-input multi-output (MIMO nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

Science.gov (United States)

Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

2013-09-01

This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

Objective evaluation of human manual control adaptation boundaries using a cybernetic approach

NARCIS (Netherlands)

Lu, T.

2018-01-01

Manual control tasks can be found everywhere in our daily activities, and the human ability to adapt in controlling many different vehicles such as cars and airplanes make it possible for us to travel farther, faster and higher. The human adaptation ability to changes in the controlled element

Adaptive control for a PWR using a self-tuning reference model concept

International Nuclear Information System (INIS)

Miley, G.H.; Park, G.T.; Kim, B.S.

1992-01-01

Possible applications of an adaptive control method to a pressurized-water reactor nuclear power plant are investigated. The self-tuning technique with a reference model concept is employed. This control algorithm is developed by combining the self-tuning controller with the model reference adaptive control. This approach overcomes the difficulties in choosing the appropriate weighting polynomials in the cost function of the self-tuning control

Graceful degradation of cooperative adaptive cruise control

NARCIS (Netherlands)

Ploeg, J.; Semsar-Kazerooni, E.; Lijster, G.; Wouw, N. van de; Nijmeijer, H.

2015-01-01

Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and

Adaptive Disturbance Rejection Control for Automatic Carrier Landing System

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Xin Wang

2016-01-01

Full Text Available An adaptive disturbance rejection algorithm is proposed for carrier landing system in the final-approach. The carrier-based aircraft dynamics and the linearized longitudinal model under turbulence conditions in the final-approach are analyzed. A stable adaptive control scheme is developed based on LDU decomposition of the high-frequency gain matrix, which ensures closed-loop stability and asymptotic output tracking. Finally, simulation studies of a linearized longitudinal-directional dynamics model are conducted to demonstrate the performance of the adaptive scheme.

Rotor Field Oriented Control with adaptive Iron Loss Compensation

DEFF Research Database (Denmark)

Rasmussen, Henrik; Vadstrup, P.; Børsting, H.

1999-01-01

It is well known from the literature that iron loses in an induction motor implies field angle estimation errors and hence detuning problems. In this paper a new method for estimating the iron loss resistor in an induction motor is presented. The method is based on a traditional dynamic model...... controlled in a Field Oriented Control scheme. This deviation is used to force a MIT-rule based adaptive estimator. An adaptive compensator containing the developed estimator is introduced and verified by simulations and tested by real time experiments....

Adaptive control of two-wheeled mobile balance robot capable to adapt different surfaces using a novel artificial neural network–based real-time switching dynamic controller

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Ali Unluturk

2017-03-01

Full Text Available In this article, a novel real-time artificial neural network–based adaptable switching dynamic controller is developed and practically implemented. It will be used for real-time control of two-wheeled balance robot which can balance itself upright position on different surfaces. In order to examine the efficiency of the proposed controller, a two-wheeled mobile balance robot is designed and a test platform for experimental setup is made for balance problem on different surfaces. In a developed adaptive controller algorithm which is capable to adapt different surfaces, mean absolute target angle deviation error, mean absolute target displacement deviation error and mean absolute controller output data are employed for surface estimation by using artificial neural network. In a designed two-wheeled mobile balance robot system, robot tilt angle is estimated via Kalman filter from accelerometer and gyroscope sensor signals. Furthermore, a visual robot control interface is developed in C++ software development environment so that robot controller parameters can be changed as desired. In addition, robot balance angle, linear displacement and controller output can be observed online on personal computer. According to the real-time experimental results, the proposed novel type controller gives more effective results than the classic ones.

Applications of Fuzzy adaptive PID control in the thermal power plant denitration liquid ammonia evaporation

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Li Jing

2016-01-01

Full Text Available For the control of the liquid level of liquid ammonia in thermal power plant’s ammonia vaporization room, traditional PID controller parameter tuning is difficult to adapt to complex control systems, the setting of the traditional PID controller parameters is difficult to adapt to the complex control system. For the disadvantage of bad parameter setting, poor performance and so on the fuzzy adaptive PID control is proposed. Fuzzy adaptive PID control combines the advantages of traditional PID technology and fuzzy control. By using the fuzzy controller to intelligent control the object, the performance of the PID controller is further improved, and the control precision of the system is improved[1]. The simulation results show that the fuzzy adaptive PID controller not only has the advantages of high accuracy of PID controller, but also has the characteristics of fast and strong adaptability of fuzzy controller. It realizes the optimization of PID parameters which are in the optimal state, and the maximum increase production efficiency, so that are more suitable for nonlinear dynamic system.

Damage control strategy for the treatment of perforated diverticulitis with generalized peritonitis.

Science.gov (United States)

Sohn, M; Agha, A; Heitland, W; Gundling, F; Steiner, P; Iesalnieks, I

2016-08-01

The best surgical strategy for the management of perforated diverticulitis with generalized peritonitis of the sigmoid colon is not clearly defined. The aim of this retrospective cohort study was to evaluate the value of a damage control strategy. All patients who underwent emergency laparotomy for perforated diverticular disease of the sigmoid colon with generalized peritonitis between 2010 and 2015 were included. The damage control strategy (study group), included a two- stage procedure: limited resection of the diseased colonic segment, closure of proximal colon and distal stump, and application of an abdominal vacuum at the initial surgery followed by second-look laparotomy 24-48 h later At this point a choice was made between anastomosis and Hartmann's procedure. The control group consisted of patients receiving definitive reconstruction (anastomosis or Hartmann's procedure) at the initial operation. Thirty-seven patients were included in the study. Damage control strategy was applied in 19 patients and the control group consisted of 18 patients. Both groups were comparable in terms of demographics, severity of peritonitis, and comorbidities. The overall postoperative mortality was 11 % (n = 4). There were no statistically significant differences between both groups regarding postoperative morbidity and mortality; however, a significantly higher proportion of patients in the control group had a stoma after the initial hospital stay (83 vs. 47 %, p = 0.038). This difference was still significant after adjustment for sex, age, Mannheim Peritonitis Index, American Society of Anesthesiologists class and presence of septic shock at presentation. At the end of the follow-up period, 15 of 17 survivors in the study group and 13 of 16 survivors in the control group had their intestinal continuity restored (p = 0.66). Damage control strategy in patients with generalized peritonitis due to perforated diverticulitis leads to a significantly reduced stoma rate

Calculation of vehicle delay at signal-controlled intersections with adaptive traffic control algorithm

Directory of Open Access Journals (Sweden)

Andronov Roman

2018-01-01

Full Text Available By widely introducing information technology tools in the field of traffic control, it is possible to increase the capacity of hubs and reduce vehicle delays. Adaptive traffic light control is one of such tools. Its effectiveness can be assessed through traffic flow simulation. The aim of this study is to create a simulation model of a signal-controlled intersection that can be used to assess the effectiveness of adaptive control in various traffic situations, including the presence or absence of pedestrian traffic through an intersection. The model is based on a numerical experiment conducted using the Monte Carlo method. As a result of the study, vehicle delays, queue length and duration of traffic light cycles are calculated subject to different intensities of incoming traffic flows, and the presence or absence of pedestrian traffic.

Severe hepatic trauma: nonoperative management, definitive repair, or damage control surgery?

Science.gov (United States)

Leppäniemi, Ari K; Mentula, Panu J; Streng, Mari H; Koivikko, Mika P; Handolin, Lauri E

2011-12-01

Management of severe liver injuries has evolved to include the options for nonoperative management and damage control surgery. The present study analyzes the criteria for choosing between nonoperative management and early surgery, and definitive repair versus damage control strategy during early surgery. In a retrospective analysis of 144 patients with severe (AAST grade III-V) liver injuries (94% blunt trauma), early laparotomy was performed in 50 patients. Initial management was nonoperative in 94 blunt trauma patients with 8 failures. Uni- and multivariate analyses were used to calculate predictor odds ratios (OR) with 95% confidence intervals (CI). Factors associated with early laparotomy in blunt trauma included shock on admission, associated grade IV-V splenic injury, grade IV-V head injury, and grade V liver injury. Only shock was an independent predictor (OR, 26.1; 95% CI, 8.9-77.1; P < 0.001). The presence of a grade IV-V splenic injury predicted damage control strategy (OR infinite; P = 0.021). Failed nonoperative management was associated with grade IV-V splenic injury (OR, 14.00; 95% CI, 1.67-117.55), and shock (OR, 6.82; 95% CI, 1.49-31.29). The hospital mortality rate was 15%; 8 of 21 deaths were liver-related. Shock (OR, 9.3; 95% CI, 2.4-35.8; P = 0.001) and severe head injury (OR, 9.25; 95% CI, 3.0-28.9; P = 0.000) were independent predictors for mortality. In patients with severe liver injury, associated severe splenic injury favors early laparotomy and damage control strategy. Patients who arrive in shock or have an associated severe splenic injury should not be managed nonoperatively. In addition to severe head injury, uncontrollable bleeding from the liver injury is still a major cause of early death.

Adaptive and neuroadaptive control for nonnegative and compartmental dynamical systems

Science.gov (United States)

Volyanskyy, Kostyantyn Y.

Neural networks have been extensively used for adaptive system identification as well as adaptive and neuroadaptive control of highly uncertain systems. The goal of adaptive and neuroadaptive control is to achieve system performance without excessive reliance on system models. To improve robustness and the speed of adaptation of adaptive and neuroadaptive controllers several controller architectures have been proposed in the literature. In this dissertation, we develop a new neuroadaptive control architecture for nonlinear uncertain dynamical systems. The proposed framework involves a novel controller architecture with additional terms in the update laws that are constructed using a moving window of the integrated system uncertainty. These terms can be used to identify the ideal system weights of the neural network as well as effectively suppress system uncertainty. Linear and nonlinear parameterizations of the system uncertainty are considered and state and output feedback neuroadaptive controllers are developed. Furthermore, we extend the developed framework to discrete-time dynamical systems. To illustrate the efficacy of the proposed approach we apply our results to an aircraft model with wing rock dynamics, a spacecraft model with unknown moment of inertia, and an unmanned combat aerial vehicle undergoing actuator failures, and compare our results with standard neuroadaptive control methods. Nonnegative systems are essential in capturing the behavior of a wide range of dynamical systems involving dynamic states whose values are nonnegative. A sub-class of nonnegative dynamical systems are compartmental systems. These systems are derived from mass and energy balance considerations and are comprised of homogeneous interconnected microscopic subsystems or compartments which exchange variable quantities of material via intercompartmental flow laws. In this dissertation, we develop direct adaptive and neuroadaptive control framework for stabilization, disturbance

Adaptive control of dynamic balance in human gait on a split-belt treadmill.

Science.gov (United States)

Buurke, Tom J W; Lamoth, Claudine J C; Vervoort, Danique; van der Woude, Lucas H V; den Otter, Rob

2018-05-17

Human bipedal gait is inherently unstable and staying upright requires adaptive control of dynamic balance. Little is known about adaptive control of dynamic balance in reaction to long-term, continuous perturbations. We examined how dynamic balance control adapts to a continuous perturbation in gait, by letting people walk faster with one leg than the other on a treadmill with two belts (i.e. split-belt walking). In addition, we assessed whether changes in mediolateral dynamic balance control coincide with changes in energy use during split-belt adaptation. In nine minutes of split-belt gait, mediolateral margins of stability and mediolateral foot roll-off changed during adaptation to the imposed gait asymmetry, especially on the fast side, and returned to baseline during washout. Interestingly, no changes in mediolateral foot placement (i.e. step width) were found during split-belt adaptation. Furthermore, the initial margin of stability and subsequent mediolateral foot roll-off were strongly coupled to maintain mediolateral dynamic balance throughout the gait cycle. Consistent with previous results net metabolic power was reduced during split-belt adaptation, but changes in mediolateral dynamic balance control were not correlated with the reduction of net metabolic power during split-belt adaptation. Overall, this study has shown that a complementary mechanism of relative foot positioning and mediolateral foot roll-off adapts to continuously imposed gait asymmetry to maintain dynamic balance in human bipedal gait. © 2018. Published by The Company of Biologists Ltd.

Design of a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological damper

International Nuclear Information System (INIS)

Phu, Do Xuan; Shah, Kruti; Choi, Seung-Bok

2014-01-01

This paper presents a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological (MR) fluid damper in order to validate the effectiveness of the control performance. An interval type 2 fuzzy model is built, and then combined with modified adaptive control to achieve the desired damping force. In the formulation of the new adaptive controller, an enhanced iterative algorithm is integrated with the fuzzy model to decrease the time of calculation (D Wu 2013 IEEE Trans. Fuzzy Syst. 21 80–99) and the control algorithm is synthesized based on the H ∞ tracking technique. In addition, for the verification of good control performance of the proposed controller, a cylindrical MR damper which can be applied to the vibration control of a washing machine is designed and manufactured. For the operating fluid, a recently developed plate-like particle-based MR fluid is used instead of a conventional MR fluid featuring spherical particles. To highlight the control performance of the proposed controller, two existing adaptive fuzzy control algorithms proposed by other researchers are adopted and altered for a comparative study. It is demonstrated from both simulation and experiment that the proposed new adaptive controller shows better performance of damping force control in terms of response time and tracking accuracy than the existing approaches. (papers)

Damage control kirurgi--en gennemgang af et Cochranereview

DEFF Research Database (Denmark)

Boel, Thomas; Hillingsø, Jens G; Svendsen, Lars Bo

2011-01-01

. However, no randomised controlled trials are found, and thus it is not possible to say whether DCS is superior to the conventional approach or not. It is not possible to perform any RCT with these patients. According to literature in general on this subject we believe, nevertheless, that the principles......Damage Control Surgery (DCS) has been the approach in dealing with multi-trauma patients for the last 15 years. In this Cochrane-review the authors seek to compare the outcome of DCS with the outcome after the conventional strategy which is often a time-consuming operation with definitive repair...

Adaptive Sliding Mode Control of MEMS AC Voltage Reference Source

Directory of Open Access Journals (Sweden)

Ehsan Ranjbar

2017-01-01

Full Text Available The accuracy of physical parameters of a tunable MEMS capacitor, as the major part of MEMS AC voltage reference, is of great importance to achieve an accurate output voltage free of the malfunctioning noise and disturbance. Even though strenuous endeavors are made to fabricate MEMS tunable capacitors with desiderated accurate physical characteristics and ameliorate exactness of physical parameters’ values, parametric uncertainties ineluctably emerge in fabrication process attributable to imperfections in micromachining process. First off, this paper considers applying an adaptive sliding mode controller design in the MEMS AC voltage reference source so that it is capable of giving off a well-regulated output voltage in defiance of jumbling parametric uncertainties in the plant dynamics and also aggravating external disturbance imposed on the system. Secondly, it puts an investigatory comparison with the designed model reference adaptive controller and the pole-placement state feedback one into one’s prospective. Not only does the tuned adaptive sliding mode controller show remarkable robustness against slow parameter variation and external disturbance being compared to the pole-placement state feedback one, but also it immensely gets robust against the external disturbance in comparison with the conventional adaptive controller. The simulation results are promising.

Design and FPGA-implementation of an improved adaptive fuzzy logic controller for DC motor speed control

Directory of Open Access Journals (Sweden)

E.A. Ramadan

2014-09-01

Full Text Available This paper presents an improved adaptive fuzzy logic speed controller for a DC motor, based on field programmable gate array (FPGA hardware implementation. The developed controller includes an adaptive fuzzy logic control (AFLC algorithm, which is designed and verified with a nonlinear model of DC motor. Then, it has been synthesised, functionally verified and implemented using Xilinx Integrated Software Environment (ISE and Spartan-3E FPGA. The performance of this controller has been successfully validated with good tracking results under different operating conditions.

Low doses of ionizing radiation to mammalian cells may rather control than cause DNA damage

International Nuclear Information System (INIS)

Feinendegen, L.E.; Sondhaus, C.A.; Altman, K.I.

1998-01-01

This report examines the origin of tissue effects that may follow from different cellular responses to low-dose irradiation, using published data. Two principal categories of cellular responses are considered. One response category relates to the probability of radiation-induced DNA damage. The other category consists of low-dose induced metabolic changes that induce mechanisms of DNA damage mitigation, which do not operate at high levels of exposure. Modeled in this way, tissue is treated as a complex adaptive system. The interaction of the various cellular responses results in a net tissue dose-effect relation that is likely to deviate from linearity in the low-dose region. This suggests that the LNT hypothesis should be reexamined. This paper aims at demonstrating tissue effects as an expression of cellular responses, both damaging and defensive, in relation to the energy deposited in cell mass, by use of microdosimetric concepts

Low doses of ionizing radiation to mammalian cells may rather control than cause DNA damage

Energy Technology Data Exchange (ETDEWEB)

Feinendegen, L.E. [Brookhaven National Lab., Upton, NY (United States). Medical Dept.; Bond, V.P. [Washington State Univ., Richland, WA (United States); Sondhaus, C.A. [Univ. of Arizona, Tucson, AZ (United States). Dept. of Radiology and Radiation Control Office; Altman, K.I. [Univ. of Rochester Medical Center, NY (United States). Dept. of Biochemistry and Biophysics

1998-12-31

This report examines the origin of tissue effects that may follow from different cellular responses to low-dose irradiation, using published data. Two principal categories of cellular responses are considered. One response category relates to the probability of radiation-induced DNA damage. The other category consists of low-dose induced metabolic changes that induce mechanisms of DNA damage mitigation, which do not operate at high levels of exposure. Modeled in this way, tissue is treated as a complex adaptive system. The interaction of the various cellular responses results in a net tissue dose-effect relation that is likely to deviate from linearity in the low-dose region. This suggests that the LNT hypothesis should be reexamined. This paper aims at demonstrating tissue effects as an expression of cellular responses, both damaging and defensive, in relation to the energy deposited in cell mass, by use of microdosimetric concepts.

Robust Longitudinal Aircraft- Control Based on an Adaptive Fuzzy-Logic Algorithm

Directory of Open Access Journals (Sweden)

Abdel- Latif Elshafei

2002-06-01

Full Text Available To study the aircraft response to a fast pull-up manoeuvre, a short period approximation of the longitudinal model is considered. The model is highly nonlinear and includes parametric uncertainties. To cope with a wide range of command signals, a robust adaptive fuzzy logic controller is proposed. The proposed controller adopts a dynamic inversion approach. Since feedback linearization is practically imperfect, robustifying and adaptive components are included in the control law to compensate for modeling errors and achieve acceptable tracking errors. Two fuzzy systems are implemented. The first system models the nominal values of the system’s nonlinearity. The second system is an adaptive one that compensates for modeling errors. The derivation of the control law based on a dynamic game approach is given in detail. Stability of the closed-loop control system is also verified. Simulation results based on an F16-model illustrate a successful tracking performance of the proposed controller.

Adaptive control of 5 DOF upper-limb exoskeleton robot with improved safety.

Science.gov (United States)

Kang, Hao-Bo; Wang, Jian-Hui

2013-11-01

This paper studies an adaptive control strategy for a class of 5 DOF upper-limb exoskeleton robot with a special safety consideration. The safety requirement plays a critical role in the clinical treatment when assisting patients with shoulder, elbow and wrist joint movements. With the objective of assuring the tracking performance of the pre-specified operations, the proposed adaptive controller is firstly designed to be robust to the model uncertainties. To further improve the safety and fault-tolerance in the presence of unknown large parameter variances or even actuator faults, the adaptive controller is on-line updated according to the information provided by an adaptive observer without additional sensors. An output tracking performance is well achieved with a tunable error bound. The experimental example also verifies the effectiveness of the proposed control scheme. © 2013 ISA. Published by ISA. All rights reserved.

Analytic Model Predictive Control of Uncertain Nonlinear Systems: A Fuzzy Adaptive Approach

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Xiuyan Peng

2015-01-01

Full Text Available A fuzzy adaptive analytic model predictive control method is proposed in this paper for a class of uncertain nonlinear systems. Specifically, invoking the standard results from the Moore-Penrose inverse of matrix, the unmatched problem which exists commonly in input and output dimensions of systems is firstly solved. Then, recurring to analytic model predictive control law, combined with fuzzy adaptive approach, the fuzzy adaptive predictive controller synthesis for the underlying systems is developed. To further reduce the impact of fuzzy approximation error on the system and improve the robustness of the system, the robust compensation term is introduced. It is shown that by applying the fuzzy adaptive analytic model predictive controller the rudder roll stabilization system is ultimately uniformly bounded stabilized in the H-infinity sense. Finally, simulation results demonstrate the effectiveness of the proposed method.

Design of an adaptive pole assignment controller for steam generators and its experimental study

International Nuclear Information System (INIS)

Na, Man Gyun; No, Hee Cheon

1992-01-01

An adaptive observer is designed that both parameters and state variables of the steam generator are estimated simultaneously. A pole assignment controller is derived on the basis of the adaptive observer. The characteristics of the overall closed-loop control system can be expressed in terms of its poles, assigned poles. The troublesome tuning procedure of the P-I controller is reduced to the determination of the desired poles only. The proposed algorithm is compared with the conventional P-I controller through numerical simulation. Also, the adaptive pole assignment controller is studied experimentally by implementing it to the mock-up of the nuclear steam generator. The adaptive pole assignment controller shows better responses than the P-l controller does. (Author)

Real-Time Application Performance Steering and Adaptive Control

National Research Council Canada - National Science Library

Reed, Daniel

2002-01-01

.... The objective of the Real-time Application Performance Steering and Adaptive Control project is to replace ad hoc, post-mortem performance optimization with an extensible, portable, and distributed...

Achieving control and synchronization merely through a stochastically adaptive feedback coupling

Science.gov (United States)

Lin, Wei; Chen, Xin; Zhou, Shijie

2017-07-01

Techniques of deterministically adaptive feedback couplings have been successfully and extensively applied to realize control or/and synchronization in chaotic dynamical systems and even in complex dynamical networks. In this article, a technique of stochastically adaptive feedback coupling is novelly proposed to not only realize control in chaotic dynamical systems but also achieve synchronization in unidirectionally coupled systems. Compared with those deterministically adaptive couplings, the proposed stochastic technique interestingly shows some advantages from a physical viewpoint of time and energy consumptions. More significantly, the usefulness of the proposed stochastic technique is analytically validated by the theory of stochastic processes. It is anticipated that the proposed stochastic technique will be widely used in achieving system control and network synchronization.

Adaptive Dynamic Surface Control for Generator Excitation Control System

Directory of Open Access Journals (Sweden)

Zhang Xiu-yu

2014-01-01

Full Text Available For the generator excitation control system which is equipped with static var compensator (SVC and unknown parameters, a novel adaptive dynamic surface control scheme is proposed based on neural network and tracking error transformed function with the following features: (1 the transformation of the excitation generator model to the linear systems is omitted; (2 the prespecified performance of the tracking error can be guaranteed by combining with the tracking error transformed function; (3 the computational burden is greatly reduced by estimating the norm of the weighted vector of neural network instead of the weighted vector itself; therefore, it is more suitable for the real time control; and (4 the explosion of complicity problem inherent in the backstepping control can be eliminated. It is proved that the new scheme can make the system semiglobally uniformly ultimately bounded. Simulation results show the effectiveness of this control scheme.

Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

Science.gov (United States)

Xia, Feng; Ma, Longhua; Peng, Chen; Sun, Youxian; Dong, Jinxiang

2008-01-01

There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS) scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting cross-layer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An event-driven invocation mechanism for the feedback scheduler is also developed. Simulation results show that the proposed approach is efficient in dealing with channel capacity variations and noise interference, thus providing an enabling technology for control over WLAN. PMID:27879934

Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

Directory of Open Access Journals (Sweden)

Jinxiang Dong

2008-07-01

Full Text Available There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting crosslayer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An eventdriven invocation mechanism for the feedback scheduler is also developed. Simulation results show that the proposed approach is efficient in dealing with channel capacity variations and noise interference, thus providing an enabling technology for control over WLAN.

An adaptive robust controller for time delay maglev transportation systems

Science.gov (United States)

Milani, Reza Hamidi; Zarabadipour, Hassan; Shahnazi, Reza

2012-12-01

For engineering systems, uncertainties and time delays are two important issues that must be considered in control design. Uncertainties are often encountered in various dynamical systems due to modeling errors, measurement noises, linearization and approximations. Time delays have always been among the most difficult problems encountered in process control. In practical applications of feedback control, time delay arises frequently and can severely degrade closed-loop system performance and in some cases, drives the system to instability. Therefore, stability analysis and controller synthesis for uncertain nonlinear time-delay systems are important both in theory and in practice and many analytical techniques have been developed using delay-dependent Lyapunov function. In the past decade the magnetic and levitation (maglev) transportation system as a new system with high functionality has been the focus of numerous studies. However, maglev transportation systems are highly nonlinear and thus designing controller for those are challenging. The main topic of this paper is to design an adaptive robust controller for maglev transportation systems with time-delay, parametric uncertainties and external disturbances. In this paper, an adaptive robust control (ARC) is designed for this purpose. It should be noted that the adaptive gain is derived from Lyapunov-Krasovskii synthesis method, therefore asymptotic stability is guaranteed.

Synchronization of chaos in RCL-shunted Josephson junction using a simple adaptive controller

International Nuclear Information System (INIS)

Guo, R; Vincent, U E; Idowu, B A

2009-01-01

In this paper, a simple adaptive control is proposed for the synchronization of chaotic dynamics of resistive-capacitive-inductive-shunted Josephson junctions (RCLSJ). The synchronization problem is investigated based on a drive-response system configuration consisting of two identical RCLSJ with and without identical system parameters. In addition, the synchronization when the system parameters are unknown is considered based on adaptive parameter control estimation. Sufficient conditions for global asymptotic synchronization are given and numerical simulations are employed to demonstrate the efficiency of the adaptive control scheme. In the presence of noise, we also show that the synchronization is robust and discuss the implication of our adaptive control technique in rapid single flux quantum (RSFQ) devices.

Design and analysis of full range adaptive cruise control with integrated collision a voidance strategy

NARCIS (Netherlands)

Mullakkal Babu, F.A.; Wang, M.; van Arem, B.; Happee, R.; Rosetti, R.; Wolf, D.

2016-01-01

Current Full Range Adaptive Cruise Control (FRACC) systems switch between separate adaptive cruise control and collision avoidance systems. This can lead to jerky responses and discomfort during the transition between the two control modes. We propose a Full Range Adaptive Cruise Control (FRACC)

Adaptive active vibration isolation – A control perspective

Directory of Open Access Journals (Sweden)

Landau Ioan Doré

2015-01-01

The paper will review a number of recent developments for adaptive feedback compensation of multiple unknown and time-varying narrow band disturbances and for adaptive feedforward compensation of broad band disturbances in the presence of the inherent internal positive feedback caused by the coupling between the compensator system and the measurement of the image of the disturbance. Some experimental results obtained on a relevant active vibration control system will illustrate the performance of the various algorithms presented.

Simple adaptive control system design for a quadrotor with an internal PFC

Energy Technology Data Exchange (ETDEWEB)

Mizumoto, Ikuro; Nakamura, Takuto; Kumon, Makoto; Takagi, Taro [Dept. of Mechanical Systems Engineering, Kumamoto University 2-39-1 Kurokami, Kumamoto, 860-8555 (Japan)

2014-12-10

The paper deals with an adaptive control system design problem for a four rotor helicopter or quadrotor. A simple adaptive control design scheme with a parallel feedforward compensator (PFC) in the internal loop of the considered quadrotor will be proposed based on the backstepping strategy. As is well known, the backstepping control strategy is one of the advanced control strategy for nonlinear systems. However, the control algorithm will become complex if the system has higher order relative degrees. We will show that one can skip some design steps of the backstepping method by introducing a PFC in the inner loop of the considered quadrotor, so that the structure of the obtained controller will be simplified and a high gain based adaptive feedback control system will be designed. The effectiveness of the proposed method will be confirmed through numerical simulations.

Career success criteria and locus of control as indicators of adaptive readiness in the career adaptation model.

OpenAIRE

Zhou, W.; Guan, Y.; Xin, L.; Mak, M.C.K.; Deng, Y.

2016-01-01

The present research had two goals. The first goal was to identify additional individual characteristics that may contribute to adaptive readiness. The second goal was to test if these characteristics fit the career adaptation model of readiness to resources to responses. We examined whether career success criteria (measured at Time 1) and career locus of control (measured at Time 1) would contribute to adaptivity and predict university students’ career decision-making self-efficacy (measured...

Adaptive Synchronization of Grid-Connected Threephase Inverters by Using Virtual Oscillator Control

DEFF Research Database (Denmark)

Li, Mingshen; Gui, Yonghao; Guerrero, Josep M.

2018-01-01

This paper presents an adaptive synchronization for current-controlled grid-connected inverter based on a time domain virtual oscillator controller (VOC). Inspired by the phenomenon of dynamics of adaptive oscillator under the perturbation effect. Firstly, the fast learning rule of the oscillator...

Direct Adaptive Aircraft Control Using Dynamic Cell Structure Neural Networks

Science.gov (United States)

Jorgensen, Charles C.

1997-01-01

A Dynamic Cell Structure (DCS) Neural Network was developed which learns topology representing networks (TRNS) of F-15 aircraft aerodynamic stability and control derivatives. The network is integrated into a direct adaptive tracking controller. The combination produces a robust adaptive architecture capable of handling multiple accident and off- nominal flight scenarios. This paper describes the DCS network and modifications to the parameter estimation procedure. The work represents one step towards an integrated real-time reconfiguration control architecture for rapid prototyping of new aircraft designs. Performance was evaluated using three off-line benchmarks and on-line nonlinear Virtual Reality simulation. Flight control was evaluated under scenarios including differential stabilator lock, soft sensor failure, control and stability derivative variations, and air turbulence.

Control and adaptation in telecommunication systems mathematical foundations

CERN Document Server

Popovskij, Vladimir; Titarenko, Larysa

2011-01-01

This book is devoted to mathematical foundations providing synthesis and analysis of control and adaptation algorithms targeting modern telecommunication systems (TCS). The most popular technologies and network management methods are discussed.

Engineering of Fast and Robust Adaptive Control for Fixed-Wing Unmanned Aircraft

Science.gov (United States)

2017-06-01

evaluate the use of adaptive control on fixed-wing unmanned aircraft . The growing demand for unmanned systems will inherit the costs associated with...aerospace environment . 2.2 Classical Feedback vs Adaptive Control Control of a system can be categorized into two required elements; the requirement to...stabilize the system in the presence of: 1. disturbances that affect the controlled states and outputs (pitch rate perturbation caused by environmental

Personal control over the cure of breast cancer : adaptiveness, underlying beliefs and correlates

NARCIS (Netherlands)

Henselmans, Inge; Sanderman, Robbert; Helgeson, Vicki S; de Vries, J; Smink, Ans; Ranchor, Adelita V

OBJECTIVES: Although cognitive adaptation theory suggests that personal control acts as a stress buffer when facing adversity, maladaptive outcomes might occur when control is disconfirmed. The moderating effect of disappointing news on the adaptiveness of personal control over cure in women with

Real-time performance assessment and adaptive control for a water chiller unit in an HVAC system

Science.gov (United States)

Bai, Jianbo; Li, Yang; Chen, Jianhao

2018-02-01

The paper proposes an adaptive control method for a water chiller unit in a HVAC system. Based on the minimum variance evaluation, the adaptive control method was used to realize better control of the water chiller unit. To verify the performance of the adaptive control method, the proposed method was compared with an a conventional PID controller, the simulation results showed that adaptive control method had superior control performance to that of the conventional PID controller.

Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network

Directory of Open Access Journals (Sweden)

Yundi Chu

2015-01-01

Full Text Available An adaptive global sliding mode control (AGSMC using RBF neural network (RBFNN is proposed for the system identification and tracking control of micro-electro-mechanical system (MEMS gyroscope. Firstly, a new kind of adaptive identification method based on the global sliding mode controller is designed to update and estimate angular velocity and other system parameters of MEMS gyroscope online. Moreover, the output of adaptive neural network control is used to adjust the switch gain of sliding mode control dynamically to approach the upper bound of unknown disturbances. In this way, the switch item of sliding mode control can be converted to the output of continuous neural network which can weaken the chattering in the sliding mode control in contrast to the conventional fixed gain sliding mode control. Simulation results show that the designed control system can get satisfactory tracking performance and effective estimation of unknown parameters of MEMS gyroscope.

Age and excuses for forgetting: self-handicapping versus damage-control strategies.

Science.gov (United States)

Erber, J T; Prager, I G

2000-01-01

Either before or after being interviewed for a volunteer position, a young or old protagonist (i.e., target) gave an excuse for forgetting. Study participants (i.e., perceivers) had a higher opinion of the target's memory, were more confident in the target's capability of performing memory-related tasks, and attributed the target's memory failures more to bad luck when the excuse was given after (damage-control strategy) rather than before (self-handicapping strategy) the interview. Moreover, the excuse given before the interview had no significant effect on perceivers' judgments when compared with data from an earlier study in which the target gave no excuse for forgetting. The present findings suggest that a damage-control strategy can ameliorate negative capability impressions.

Learning-Based Adaptive Optimal Tracking Control of Strict-Feedback Nonlinear Systems.

Science.gov (United States)

Gao, Weinan; Jiang, Zhong-Ping; Weinan Gao; Zhong-Ping Jiang; Gao, Weinan; Jiang, Zhong-Ping

2018-06-01

This paper proposes a novel data-driven control approach to address the problem of adaptive optimal tracking for a class of nonlinear systems taking the strict-feedback form. Adaptive dynamic programming (ADP) and nonlinear output regulation theories are integrated for the first time to compute an adaptive near-optimal tracker without any a priori knowledge of the system dynamics. Fundamentally different from adaptive optimal stabilization problems, the solution to a Hamilton-Jacobi-Bellman (HJB) equation, not necessarily a positive definite function, cannot be approximated through the existing iterative methods. This paper proposes a novel policy iteration technique for solving positive semidefinite HJB equations with rigorous convergence analysis. A two-phase data-driven learning method is developed and implemented online by ADP. The efficacy of the proposed adaptive optimal tracking control methodology is demonstrated via a Van der Pol oscillator with time-varying exogenous signals.

Design of control system for piezoelectric deformable mirror based on fuzzy self-adaptive PID control

Science.gov (United States)

Xiao, Nan; Gao, Wei; Song, Zongxi

2017-10-01

With the rapid development of adaptive optics technology, it is widely used in the fields of astronomical telescope imaging, laser beam shaping, optical communication and so on. As the key component of adaptive optics systems, the deformable mirror plays a role in wavefront correction. In order to achieve the high speed and high precision of deformable mirror system tracking control, it is necessary to find out the influence of each link on the system performance to model the system and design the controller. This paper presents a method about the piezoelectric deformable mirror driving control system.

Distance Constrained Based Adaptive Flocking Control for Multiagent Networks with Time Delay

Directory of Open Access Journals (Sweden)

Qing Zhang

2015-01-01

Full Text Available The flocking control of multiagent system is a new type of decentralized control method, which has aroused great attention. The paper includes a detailed research in terms of distance constrained based adaptive flocking control for multiagent system with time delay. Firstly, the program on the adaptive flocking with time delay of multiagent is proposed. Secondly, a kind of adaptive controllers and updating laws are presented. According to the Lyapunov stability theory, it is proved that the distance between agents can be larger than a constant during the motion evolution. What is more, velocities of each agent come to the same asymptotically. Finally, the analytical results can be verified by a numerical example.

Adaptive PID formation control of nonholonomic robots without leader's velocity information.

Science.gov (United States)

Shen, Dongbin; Sun, Weijie; Sun, Zhendong

2014-03-01

This paper proposes an adaptive proportional integral derivative (PID) algorithm to solve a formation control problem in the leader-follower framework where the leader robot's velocities are unknown for the follower robots. The main idea is first to design some proper ideal control law for the formation system to obtain a required performance, and then to propose the adaptive PID methodology to approach the ideal controller. As a result, the formation is achieved with much more enhanced robust formation performance. The stability of the closed-loop system is theoretically proved by Lyapunov method. Both numerical simulations and physical vehicle experiments are presented to verify the effectiveness of the proposed adaptive PID algorithm. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Comparison between iterative wavefront control algorithm and direct gradient wavefront control algorithm for adaptive optics system

Science.gov (United States)

Cheng, Sheng-Yi; Liu, Wen-Jin; Chen, Shan-Qiu; Dong, Li-Zhi; Yang, Ping; Xu, Bing

2015-08-01

Among all kinds of wavefront control algorithms in adaptive optics systems, the direct gradient wavefront control algorithm is the most widespread and common method. This control algorithm obtains the actuator voltages directly from wavefront slopes through pre-measuring the relational matrix between deformable mirror actuators and Hartmann wavefront sensor with perfect real-time characteristic and stability. However, with increasing the number of sub-apertures in wavefront sensor and deformable mirror actuators of adaptive optics systems, the matrix operation in direct gradient algorithm takes too much time, which becomes a major factor influencing control effect of adaptive optics systems. In this paper we apply an iterative wavefront control algorithm to high-resolution adaptive optics systems, in which the voltages of each actuator are obtained through iteration arithmetic, which gains great advantage in calculation and storage. For AO system with thousands of actuators, the computational complexity estimate is about O(n2) ˜ O(n3) in direct gradient wavefront control algorithm, while the computational complexity estimate in iterative wavefront control algorithm is about O(n) ˜ (O(n)3/2), in which n is the number of actuators of AO system. And the more the numbers of sub-apertures and deformable mirror actuators, the more significant advantage the iterative wavefront control algorithm exhibits. Project supported by the National Key Scientific and Research Equipment Development Project of China (Grant No. ZDYZ2013-2), the National Natural Science Foundation of China (Grant No. 11173008), and the Sichuan Provincial Outstanding Youth Academic Technology Leaders Program, China (Grant No. 2012JQ0012).

Adaptive Control Based Harvesting Strategy for a Predator-Prey Dynamical System.

Science.gov (United States)

Sen, Moitri; Simha, Ashutosh; Raha, Soumyendu

2018-04-23

This paper deals with designing a harvesting control strategy for a predator-prey dynamical system, with parametric uncertainties and exogenous disturbances. A feedback control law for the harvesting rate of the predator is formulated such that the population dynamics is asymptotically stabilized at a positive operating point, while maintaining a positive, steady state harvesting rate. The hierarchical block strict feedback structure of the dynamics is exploited in designing a backstepping control law, based on Lyapunov theory. In order to account for unknown parameters, an adaptive control strategy has been proposed in which the control law depends on an adaptive variable which tracks the unknown parameter. Further, a switching component has been incorporated to robustify the control performance against bounded disturbances. Proofs have been provided to show that the proposed adaptive control strategy ensures asymptotic stability of the dynamics at a desired operating point, as well as exact parameter learning in the disturbance-free case and learning with bounded error in the disturbance prone case. The dynamics, with uncertainty in the death rate of the predator, subjected to a bounded disturbance has been simulated with the proposed control strategy.

Distributed robust adaptive control of high order nonlinear multi agent systems.

Science.gov (United States)

Hashemi, Mahnaz; Shahgholian, Ghazanfar

2018-03-01

In this paper, a robust adaptive neural network based controller is presented for multi agent high order nonlinear systems with unknown nonlinear functions, unknown control gains and unknown actuator failures. At first, Neural Network (NN) is used to approximate the nonlinear uncertainty terms derived from the controller design procedure for the followers. Then, a novel distributed robust adaptive controller is developed by combining the backstepping method and the Dynamic Surface Control (DSC) approach. The proposed controllers are distributed in the sense that the designed controller for each follower agent only requires relative state information between itself and its neighbors. By using the Young's inequality, only few parameters need to be tuned regardless of NN nodes number. Accordingly, the problems of dimensionality curse and explosion of complexity are counteracted, simultaneously. New adaptive laws are designed by choosing the appropriate Lyapunov-Krasovskii functionals. The proposed approach proves the boundedness of all the closed-loop signals in addition to the convergence of the distributed tracking errors to a small neighborhood of the origin. Simulation results indicate that the proposed controller is effective and robust. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Scenario design : adaptive architecture for command and control experiment eight

OpenAIRE

Clark, Frankie J.

2002-01-01

Approved for public release; distribution is unlimited. The Adaptive Architectures for Command and Control (A2C2) project is an ongoing research effort sponsored by the Office of Naval Research to explore adaptation in joint command and control. The objective of the project's eighth experiment is to study the adjustments that organizations make when they are confronted with a scenario for which their organizational is ill-suited. To accomplish this, teams will each be in one of two fundame...