Aalborg universitet multiple model adaptive control. Robust adaptive control for nonlinear discretetime. Different kinds of combinations of fixed model and adaptive model will be used for robust multiple models adaptive control mmac. Multiplemodel adaptive control using setvalued observers. Robust multiple model adaptive control for dynamic. Contents xi 9 robust adaptive control schemes 635 9. A new robust adaptive control method is proposed, which removes the deficiencies of the classic robust multiple model adaptive control rmmac using benefits of the. In 2 and 3, the adaptive robust control arc technique proposed by yao and tomizuka in 4 and 5, was applied to precision motion control of electrohydraulic systems driven by singlerod actuators. We employ an adaptive control algorithm consisting of a family of linear candidate controllers supervised by a high. Robust nonlinear control by scheduling multiple model based controllers. Robust control systems are especially concerned with the uncertainty included with the measurement of sensors.
Nonlinear adaptive control ac deterministic robust control drc reduceeliminate uncertainties through parameter adaptation to achieve asymptotic tracking. The supervisory control problem is analysed as an online robust design problem using switching to select the relevant models for designing the control law. Driven by aerospace applications the focus of the book is primarily on continuousdynamical systems. The key procedures of this control scheme have given. In this paper we propose a new methodology for solving an uncertain stochastic markovian control problem in discrete time. A robust multiple model adaptive control strategy using fuzzy fusion rmmacff is presented in this paper. Citeseerx robust multiple model adaptive control rmmac. The workshop brought together international experts in the field of robust adaptive control to present recent developments in the area. Multiple model adaptive algorithms for detecting and. Nonlinear adaptive robust control purdue engineering. This paper demonstrates the application of multiplemodel adaptive control mmac strategy for robust damping of lowfrequency electromechanical oscillation in an interconnected power system. The underline parameter estimation law in arc controller are based on the direct adaptive control design such as the tuning function based. The main idea in multi model controllers is to identify the best model of the system at. From robust control to adaptive control 4 robust control plays an important role in adaptive control directly or indirectly adaptive control can improve the performances of a robust controller identification in closed loop allows to establish links between robust control and adaptive control.
Observerbased multiplemodel adaptive output feedback. Multiple model robust adaptive vehicle motion control by halit zengin a thesis presented to the university of waterloo in ful llment of the thesis requirement for the degree of doctor of philosophy in mechanical and mechatronics engineering waterloo, ontario, canada, 2019 c halit zengin 2019. So the study on the robust coordination control algorithm for multiple surface vessels is significative. We begin with setting up the model and in section3. The solution of the adaptive robust problem is discussed in. With respect to the coordination control issues of multiple surface vessels, abundant studies have been widely reported in the existing literature. Part i the framework dominic buchstaller, mark french, member, ieee abstractan axiomatic framework providing robust stability and performance bounds for a wide class of estimation based. Robust stability for multiple model adaptive control. The proof of stability and convergence of mmac are given, and the significant efficacy of the proposed methods is tested by simulation. The main idea in multi model controllers is to identify the best model of the system at any instant of time and apply the appropriate control input to it. We evaluate the performance of the robust multiple model adaptive control rmmac methodology by considering a massspringdashpot msd system subject to highfrequency disturbances that. Adaptive control structures gain scheduling, with the reference model mras. The nonlinear system is expressed by using the takagisugeno ts method, and some identification adaptive ts models along with their corresponding controllers, are used in order to control efficiently the.
The present paper concentrates on the switching task in a multiple model. Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. Rovisco pais, 1, 1049001 lisboa, portugal summary a multiple model adaptive control methodology is proposed that is able to provide stability and performance guarantees, for. The primary controller can control a process under normal operating conditions. There are several typical approaches used to design the coordination formation controller. Citeseerx document details isaac councill, lee giles, pradeep teregowda. Possible instability in the presence of even small measurement noises and disturbances.
Strategy for robust damping of interarea oscillations in power system. Robust adaptive control for single inputsingle output. Recently, this type of problem has been addressed in the context of mpc. Abstract a new robust adaptive control method is proposed, which removes the deficiencies of the classic robust multiple model adaptive. This paper addresses the stability of rmmac systems. Integration of the stability overlay so with the robust multiplemodel adaptive control rmmac paulo rosa, jeff s.
Integration of the stability overlay so with the robust multiple model adaptive control rmmac. Multiple model adaptive control mmac strategies are adopted, due to. We overview recent progress in the field of robust adaptive control with special emphasis on methodologies that use multiple. Research article robust adaptive control for nonlinear. An online learned adaptive appearance model for robust multiple object tracking in 3d zheng tang1, student member, and jenqneng hwang1, fellow, ieee 1department of electrical and computer engineering, university of washington, seattle, wa 98195 usa corresponding author. Application of multiplemodel adaptive control strategy for robust. Multiple model adaptive control using dual youlakucera factorisation. The rmmac architecture features robust controllers designed with synthesis and kalman. For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption. Robust multiple model adaptive control for dynamic positioning of quadrotor helicopter system. Phrase searching you can use double quotes to search for a series of words in a particular order. How to systematically distribute candidate models and robust controllers in multiple model adaptive control. Multiplemodel adaptive control with setvalued observers paulo rosa, carlos silvestre, jeff s. Section3is dedicated to the adaptive robust control methodology.
Part ii gain bounds dominic buchstaller, mark french, member, ieee abstractthe axiomatic development of a wide class of estimation based multiple model switched adaptive control emmsac algorithms considered in the. Pascoal institute for systems and robotics isr, instituto superior tecnico. As the conventional congestion control is sensitive to the variable network condition, the adaptive control method is adopted in our congestion control. Indien deze voordelen van robust multiple model adaptive control en unfalsi. Pdf robust multiple model adaptive control with fuzzy. Multiplemodel adaptive control mmac is shown to be an effective strategy for. The present paper concentrates on the switching task in a multiple model context. Institute for systems and robotics isr, instituto superior t. Multiple model adaptive estimation for inertial navigation during mars entry jeremy m. The control algorithm uses a model based approach to account for the variability and uncertainty involved in the postdisturbance dynamics of the system. Recursive least squares method and extended recursive least squares method in parameter identification.
Issues, progress and new results in robust adaptive control. Distributing nominal models in multiple models applications constitutes a long standing problem. Robust coordinated formation for multiple surface vessels. Multiple model adaptive estimation mmae methods have been incorporated into the design of a flight control system for the variable in. Shamma, carlos silvestre and michael athans abstractthe stability overlay so is a safety net that can be integrated with virtually any multiplemodel adaptive control mmac architecture, guaranteeing the stability of the. Later, the proposed blending based adaptive identi fication schemes are used to develop linear quadratic lq based multiple model adaptive control mmac scheme for mimo systems with polytopic parameter uncertainties. Pdf multiplemodel adaptive control of uncertain lpv. Multiple model multiple controller adaptive control. The nonlinear system is expressed by using the takagi sugeno t s method, and some identi. Proceedings of the 18th world congress the international federation of automatic control milano italy august 28 september 2, 2011 stability analysis of robust multiple model adaptive control vahid hassani jo o pedro hespanha michael athans, a antonio m. Methods for constructing such controller families have been discussed in the recent paper by the authors. Multiple model adaptive control using setvalued observers paulo rosa, and carlos silvestre institute for systems and robotics, instituto superior tecnico, av. We evaluate the performance of the robust multiple model adaptive control rmmac methodology by considering a massspringdashpot msd system subject to high.
Fortunately these two subproblems of multiple model adaptive control are reasonably indepen. Robust adaptive multiple models based fuzzy control of. In this paper a systematic observerbased multiple model adaptive controller design method is proposed for lipschitz nonlinear systems. Integration of the stability overlay so with the robust. Pdf robust multiple model adaptive control for dynamic. Multiplemodel adaptive control with setvalued observers. A singlevariable robust model free adaptive control system is introduced, which consists of a primary controller and two constraint controllers. We argue that the selection of the number of models, estimators and compensators in such architectures must be based on a precise definition of the robust performance requirements. An axiomatic framework providing robust stability and performance bounds for a wide class of estimation based multiple model switched adaptive control emmsac algorithms is developed. The congestion controller based on the multiple model adaptive control is designed for the network congestion in tcpaqm network. Integration of the stability overlay so with the robust multiplemodel adaptive control rmmac.
Multiplemodel robust adaptive vehicle motion control. The conceptual structure of mpc is depicted in fig. The new system was coupled with a mathematical model of a patients response to drug infu. Because robust control requires a variety of skills to build accurate models of the system, it is related to the system approach of using multidisciplinary design teams. Robust adaptive control using multiple models, switching. Indirect adaptive robust control of electrohydraulic systems. Congestion control based on multiple model adaptive control. Shamma, carlos silvestre and michael athans abstractthe stability overlay so is a safety net that can be integrated with virtually any multiple model adaptive control mmac architecture, guaranteeing the stability of the. For example, world war ii with quotes will give more precise results than world war ii without quotes. By introducing a compensator in the observerbased controller. Shamma and michael athans abstractthis paper proposes a multiple model adaptive control methodology, using setvalued observers mmacsvo for the identi.
Pdf robust multiple model adaptive control using fuzzy. Pdf integration of the stability overlay so with the. The asymptotic stability of the proposed adaptive identifi cation schemes for linear mimo systems is studied in detail. The multiple model adaptive control is introduced in this paper based on the weight calculation instead of the. These indicated that the theory of adaptive control is moving closer to applications and is beginning to give realistic guidelines useful in practical situations. The proposed supervisory control algorithm is based on the integration of concepts used in supervisory adaptive control, robust control and receding horizon control. Application of multiplemodel adaptive control strategy. From robust control to adaptive control 22 concluding remarks identification in closed loop establishes a bridge between robustness and adaptationiterative identification in closed loop and controller redesign is a two times scales adaptive control robust linear design in high frequency is needed. How to systematically distribute candidate models and. Lam orbital sciences corporation, dulles, va 20166 a multiple model adaptive estimation mmae scheme is derived to determine both the. Multiple model adaptive estimation for inertial navigation.
The robust multiple model adaptive control rmmac methodology was first introduced in fekri et al. Robust multiple model adaptive control using fuzzy fusion ieee. Pdf stability analysis of robust multiple model adaptive. The text is a threepart treatment, beginning with robust and optimal linear control methods and moving on to a selfcontained. Bielecki a, tao chen, igor cialenco, areski cousinb, monique jeanblancc first circulated. Adaptive robust control under model uncertainty tomasz r.
Robust multiple model adaptive control using fuzzy fusion. Part ithe framework dominic buchstaller and mark french,member,ieee abstractan axiomatic framework providing robust stability and performance boundsfor a wideclass of estimation based multiple model switched adaptive control emmsac algorithms is developed. The set of models needs to be distributed in such a way that their corresponding controllers can. Stability analysis of robust multiple model adaptive control. Robust and adaptive control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events.
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