Journal Article10.1080/00207179208934352
The decentralized minimal controller synthesis algorithm
H. Benchoubane,David P Stoten +1 more
37
TL;DR: The decentralized minimal controller synthesis (DMCS) algorithm is shown to be extremely effective in controlling nonlinear multivariable plant with unknown parameters and an estimate of the upper bound of error convergence is derived.
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Abstract: In this paper, the decentralized minimal controller synthesis (DMCS) algorithm is shown to be extremely effective in controlling nonlinear multivariable plant with unknown parameters. Both the stability and robustness of this new adaptive algorithm are investigated. It is shown that if the plant coupling terms and nonlinearities are slowly varying, compared with each adaptive loop bandwidth, then the DMCS algorithm yields an asymptotically stable closed-loop system. However, if the coupling terms and/or nonlinearities are rapidly varying, tracking errors are shown to be bounded. An estimate of the upper bound of error convergence is derived. Implementation studies of the algorithm applied to a two-degree-of-freedom manipulator are included. The results of these experiments are closely aligned with the theoretical predictions.
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Citations
Novel hybrid MRAC-LQ control schemes: synthesis, analysis and applications
TL;DR: The hybrid algorithms proposed in this work extend the family of model reference minimal control synthesis adaptive controllers and address the issue of enhancing the robustness of LQ regulators with the main idea behind the approach to seek a simple and alternative route to implement the LQ regulator via the MCS algorithm.
22
The extended minimal controller synthesis algorithm
David P Stoten,H Benchoubane +1 more
TL;DR: In this article, an extended minimal control synthesis (EMCS) algorithm was proposed to elicit global asymptotically stable error dynamics, even in the presence of rapidly varying disturbances.
22
Minimal control synthesis adaptive control of continuous bimodal piecewise affine systems
M. di Bernardo,Umberto Montanaro,Stefania Santini +2 more
- 01 Dec 2012
TL;DR: The derivation of a model reference adaptive control scheme for bimodal piecewise-affine (PWA) continuous systems is reviewed, based on an extension of the minimal control synthesis algorithm, originally developed as an MRAC for smooth systems.
19
The adaptive minimal control synthesis algorithm with integral action
D.P. Stoten
- 06 Nov 1995
TL;DR: In this paper, a significant extension to the minimal control synthesis (MCS) algorithm is described, called MCSI, which incorporates integral action in an explicit manner to compensate for nonzero mean bias terms on the plant.
19
Assessment of seismic resistance of masonry structures including boundary conditions
TL;DR: In this paper, the authors investigated the seismic response of the masonry structure and described experiences with modelling of boundary conditions during the test of large heavy model on 6DOF shaking table, the main aim of the research was how to increase dynamic resistance capacity of old masonry buildings including the medium and strong seismic effects.
17
References
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Adaptive Systems with Reduced Models
Petros Ioannou,Peter V. Kokotovic +1 more
- 01 Jan 1983
TL;DR: This paper presents a new approach to adaptive control called reduced order-decentralized adaptive control, which aims to improve the robustness improvement of identifiers and adaptive observers in the presence of disturbances.
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Stable adaptive controller design--Direct control
TL;DR: In this paper, the design of stable adaptive controllers using a model reference approach is discussed, and a systematic procedure is developed using the concept of positive realness and is generalized to arbitrarily located coutrol parameters.
513
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