Adaptive Control 2011 Part 2 pdf

... system (3.1) is stabilizable if and only if 2 2 3 +<L . 3 .2 Adaptive Controller Design In the sequel, we shall construct a unified adaptive controller for both cases of b =1 and b >1. ... 2 2 3 +≥L , then there exists a feedback control law such that for any f F(L), the corresponding closed-loop control system is globally stable; and if 2 2 3 +<L , then for any f...

Ngày tải lên: 21/06/2014, 19:20

... Transactions on Automatic Control, vol. 45, no. 12, pp. 22 03 22 17, 20 00. Adaptive Estimation and Control for Systems with Parametric and Nonparametric Uncertainties 59 (4 .24 ) Therefore, ... Available:http://en.wikipedia.org/w/index.php?title=Regressionanalysis&oldid =23 222 10 82 [XG99] L. L. Xie and L. Guo, “Fundamental limitations of discrete-time ad...

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... ⎪ ⎪ ⎪ ⎪ ⎪ ⎩ ⎪ ⎪ ⎪ ⎪ ⎪ ⎨ ⎧ >+++ +++ ≤+++ +++ = − − ,δyif,y 2 1 βΔ 2 1 bΔ 2 1 αΔ 2 1 ΔΓΔ 2 1 ω 2 1 V δyif,δ 2 1 βΔ 2 1 bΔ 2 1 αΔ 2 1 ΔΓΔ 2 1 ω 2 1 V V f 1 1 ff 1 1 y f 2 f 2 1 β 2 e b 2 e α 1 1 θ T 1 2 10 y f 2 y 2 1 β 2 e b 2 e α 1 1 θ T 1 2 10 1 θθ θθ ( 32) ... [] () [] () [] () ,eyeΨ Ψεyεyγyya RβΔμ γ σ bΔμ γ σ αΔμ γ σ ΔμΓλσ ωcΔρΓλσkΔρ γ σ μρR...

Ngày tải lên: 21/06/2014, 19:20

... Adaptive Control 370 Huang, S.N. & Tan, K.K. (20 06). Nonlinear adaptive control of interconnected systems using neural networks. IEEE Trans Neural Networks, Vol.17, No.1, 20 06, pp .24 3 24 6, ... + %% define as 2 ˆˆ () ( ) ( , ) TT iiiiiiiii SStW WO μσ ω μσ μσ ′′ =++ % %% Thus, Adaptive Control 368 0 5 10 15 20 -0.6 -0.4 -0 .2 0 0 .2 0.4 0.6 0.8 1...

Ngày tải lên: 21/06/2014, 19:20

... -0.37 -0. 42 -0 .22 0.41 0.44 0. 12 6 June P SH 2. 95 2. 84 2. 69 2. 21 2. 21 2. 36 0.74 0.64 0. 32 S HT -1.15 -1.14 -0.97 -0.40 -0.40 -0.34 -0.76 -0.81 -0. 62 S HF 4.00 3. 92 3.81 3.10 3.15 3. 02 0.98 ... 0. 02 0.00 0.00 -0.01 -0. 02 0.00 0.03 0. 02 0.00 S RAD 0.13 0.18 0. 12 0.01 0. 02 0.01 0.00 0. 02 0.00 Q CM 0.05 0.01 -0.09 -0 .24 -0.33 -0.16 0 .28 0. 32 0...

Ngày tải lên: 19/06/2014, 11:20

... l                 l I (14) I 2 is the 2 2 identity matrix. Hence:   1 2 cos . sin cos 2 sin 2 2 2 2 cos . sin sin 2 cos 2 2 2 2 co 2 2 S md F d q d q d q d q d q d q md F d q ... l                 l I (14) I 2 is the 2 2 identity matrix. Hence:   1 2 cos . sin cos 2 sin 2 2 2 2 cos . sin sin 2 cos 2 2 2 2 co...

Ngày tải lên: 21/06/2014, 11:20

... + ⎢ ⎥ ⎢ ⎥ ⎣ ⎦   , (25 ) that can be rewritten as ()() 2* * 0011 022 0 * 2 () m m Ve e ey er b a θθ θθ θ =− ⎡ ⎤ +−+− ⎢ ⎥ ⎣ ⎦  . (26 ) Using the switching laws, 110 ()sgn e yθθ=− , (27 ) 22 0 ()sgn ... (22 ) Now, consider the Lyapunov function candidate given by 2 00 1 (0) 2 Ve e >= , (23 ) and its respective first time derivative 000 ()Ve ee=   . (24 )...

Ngày tải lên: 21/06/2014, 19:20

... Automatic Control, Vol.AC- 22 , pp. 21 2 -22 2. Utkin, V. I. (1978). Sliding modes and their application in variable structure systems. Mir Publishers, Moscow. Utkin, V. I. (19 92) . Sliding Modes in Control ... 1 122 T vdqsdqvdqsdq θθθθθ ⎡⎤ = ⎢⎥ ⎣⎦ , 1( ) 2( ) T nom s dq nom s dq nom θθ θ ⎡ ⎤ = ⎢ ⎥ ⎣ ⎦ and 11 22 s dq dq sdq s dq dq sdq v vv vi v =Λ + =Λ +   , (76) in...

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... Orlowska-Kowalska, 20 07), according to the following equations: 4 021 ω cI TTTk = (6) 011 4 ω ξ r Tk = (7) ⎟ ⎟ ⎠ ⎞ ⎜ ⎜ ⎝ ⎛ −−+= cc rc TTTT TTk 12 2 0 22 0 12 11 42 ωξω (8) ( ) 1 2 2 013 −= c TTkk ω ... Haddad, K. (1994). Adaptive versus neural adaptive control: application to robotics, International Journal of Adaptive Control and Signal Processing, Vo...

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... the control proceeded. -0 .2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0 .2 0 .25 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 v(t) u(t ) Fig. 5. The hysteresis in the system 0 2 4 6 8 10 12 14 16 18 20 -4 -3 -2 -1 0 1 2 3 4 time compensation ... PID control for comparison: In order to compare the control performance of the proposed control strategy with the PID controller , we choose...

Ngày tải lên: 21/06/2014, 19:20