Abstract
This study demonstrates application of multi-loop model reference adaptive control (MRAC) structure to enhance fault tolerance performance of closed-loop PID control systems. The proposed multi-loop MRAC-PID structure can transform a conventional PID control system to an adaptive control system by combining an outer adaptation loop that employs MIT rule. This control structure can be used to improvement of fault tolerance and fault detection performance of the existing closed-loop PID control systems. One of the advantages of this structure originates from the reference input shaping technique that allows adaptive control without modifying any coefficients of the existing PID controllers. Numerical and experimental studies are presented to illustrate the application of the multi-loop MRAC-PID control structure for rotor control applications.
Highlights
Control systems are mainly designed according to mathematical models of controlled systems
The multi-loop Model Reference Adaptive Control (MRAC)-FOPID control structure has been applied for control of experimental magnetic levitation system in order to demonstrate improvement in disturbance rejection performance of magnetic levitation control system [29]. This method has been extended to additional loops and control performance improvements of this multi-loop approach has been shown for speed control of a servo plant [30].The current study demonstrates performance of multi-loop MRAC-PID control structure to enhance fault tolerance and fault diagnosis capabilities of experimental electrical rotor PID control system
This study demonstrated experimental study for application of MRAC-PID structure to implement adaptive PID control of electrical rotors
Summary
Control systems are mainly designed according to mathematical models of controlled systems. Since increasing risks of instability and crash of UAVs while performing real-time retuning or online self-tuning actions, update of PID coefficients in operation may not be viable and secure for mission-critical applications In this sense, motivation of the present study is to improve robust performance of PID control systems without need for retuning actions and this is performed by collaboration MIT rule of MRAC loop. The solution of MIT rule continuously follows descending of gradient trends of model approximation errors while updating gain parameters of control systems It cannot control stable plants, computational complexity of the method is not high and its cooperation with other controller structure can improve adaptation skill of conventional control systems [19,20,21,22]. Since PID control is the most widely utilized industrial controller structure, demonstration of improvement in performance of PID control system can be very beneficial for industrial control applications
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