Adaptive Control 2011 Part 4 pdf

... 4 μ . Where [ ] ( ) . γ 4 βσ γ 4 bσ γ 4 ασ 4 Γλσ 4 3 RR β 4 22 β b 3 2 e 2 b α2 2 e 2 α 2 1 1 2 1 θ min 2 θ 1 01 11 +++++= − θ Here we have () () () 2 5 5 2 0 f 2 5 0 f 50 f eμ 4 Ψy μ2 Ψy eμeΨy ... u )s(f 1 1 f u )s(n )s(d d d )s(d )s(n d d f u 1 f u )s(f u y m y e Controlled s y stem Virtual controlled s y stem Virtual error s y stem Adaptive Control 82 i...

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... set- Adaptive Control 42 (3.10) Thus, intuitively, we can take (3.11) as the estimate of t g at time t . Design of Control u t : Let (3.12) Under Assumptions 3.1-3 .4, ... parameter. Fig. 4. Idea of loose IC estimator: The polygon P 1 P 2 P 3 P 4 P 5 can be approximated by a triangle Q 1 P 4 Q 2 . Here M = 3. Adaptive Estimation and Control for...

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... 4. 3 Asymptotic Tracking Performance 4. 3.1 Main Results Theorem 4. 1 In the closed-loop system (4. 1) with control law (4. 9) and parameters adaptation law (4. 3), under Assumptions 4. 1 4. 3, ... GS 84] . 4. 3.3 Proof of Theorem 4. 1 Define parameter estimate errors and . From Eqs. (4. 7) and (4. 8), we have (4. 14) Then, we can derive the following error dynamic...

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... Hall Polycarpou, M.M.(1996). Stable adaptive neural control scheme for nonlinear system, IEEE Trans. on Automatic Control, Vol. 41 , No. 3, 1996, pp .44 7 -45 1, ISSN 0018-9286 Appendix A As ... Adaptive Control 370 Huang, S.N. & Tan, K.K. (2006). Nonlinear adaptive control of interconnected systems using neural networks. IEEE Trans Neural Networks, Vol.17, No.1...

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... μmol/g pzc GAC 842 0. 34 72.2 40 .5 85.0 198 90.5 5 .4 GACoxN 816 0.35 267 52 .4 73.7 393 48 .6 3 .4 GACoxN723 903 0.32 95.3 60.2 112 268 103 7.9 GACoxN1023 935 0.37 2.36 10.2 47 .9 60.5 266 8.2 ... the CAP. Sample E o kJ/mol W o cm 3 /g S BET m 2 /g CAP 7 .47 0 .43 1 248 CAPRED 6 .48 0.38 1089 CAPN65 7 .47 0 .43 1253 Table 1. Surface properties obtained for thre...

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... - Control Theory and Applications , Vol. 147 , No. 4, pp. 45 6 -46 4. Bilbao-Guillerna, A., De la Sen, M., Ibeas, A. and Alonso-Quesada, S. (2005). Robustly stable multiestimation scheme for adaptive ... () p p y ua b Ws s = + = , (1) Adaptive Control 128 Fig. 6. Multirate gains Fig. 7. Adaptive control parameters Discrete Model Matching Adaptive Control for...

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... controller design, part II: proof of stability. IEEE Transactions on Automatic Control, Vol. AC-25, pp. 44 0 -44 8. Narendra, K. & Annaswamy, A. (1989). Stable adaptive control. Englewood ... reference adaptive control using only input and output measurement: part I. International Journal of Control, Vol .49 , No. 1, pp. 399 -41 6. Hsu, L. (1990). Variable Structure mod...

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... for robot motion control, IEEE Transactions on Industrial Electronics, Vol. 44 , No. 3, pp. 40 8 -41 7. Adaptive Control 202 Simulation results are shown in Fig.9 ~Fig. 14. Fig.9 and Fig.10 ... kw1kw 4 sq I I w4 I 4 sq I 4 sq I ∂ ∂ −=+ η (43 ) () () ( ) () ka kJ ka1ka i iq I I a I i iq I i iq I ∂ ∂ −=+ η (44 ) () () ( ) () kb kJ kb1kb i iq I I b I i iq I i iq I...

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... good control performance. 0 2 4 6 8 10 12 14 16 18 20 -0.8 -0.6 -0 .4 -0.2 0 0.2 0 .4 0.6 time y yd system output y desired output yd Fig. 8. The control response of the PID control method Adaptive ... pp. 143 8- 144 5. Ferretti, G., Magnoni, G. A. & Rocco, P. (20 04) . Impedance Control for Elastic Joint Industrial Manipulators, IEEE Trans. on Robotics and Automatio...

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... defining 0 21 == χχ && , we have )( 42 244 123312232211 χχχχχχχχχτ ⋅⋅+⋅⋅+⋅⋅+⋅⋅−⋅⋅= ffffva &&&& && Let 42 244 123312232212 χχχχχχχχ ⋅⋅+⋅⋅+⋅⋅+⋅⋅= ffffF &&&& ... monitoring Feedback control (search control algorithm ) Fig. 1. Adaptive CD compensation in the receiver. High-Speed Adaptive Control Technique Based on Steepest...

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