Adaptive Partial State Feedback Controller Research Articles

Semiglobal ISpS Disturbance Attenuation With Output Tracking via Direct Adaptive Design

Direct adaptive partial state feedback control is presented to achieve semiglobally input-to-state practically stable (ISpS) disturbance attenuation with output tracking for a class of uncertain time-varying nonlinear systems in which the unmeasured dynamics do not possess a constant disturbance attenuation level (CDAL). Identifying a necessary condition for the existence of a CDAL, direct adaptive neural networks (NNs) control is developed, where the universal approximation property of NNs and the domination design are employed together to overcome the difficulties due to the lack of state information, unknown system nonlinearities, and unknown state-dependent disturbance attenuation gain. The proposed method is coherent in the sense that it is applicable to the case in which a CDAL exists.

Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.

Adaptive partial state feedback control of the induction motor: elimination of rotor flux and rotor velocity measurements

In this paper, we present an adaptive, singularity free, partial-state feedback position tracking controller for the full-order, non-linear dynamic model of an induction motor driving a mechanical subsystem. The controller ensures global asymptotic rotor position tracking despite parametric uncertainty associated with rotor resistance effects and the mechanical subsystem. In contrast to the previous work, the proposed controller requires only rotor position and stator current measurements (i.e. rotor velocity and rotor flux measurements are not required). Experimental results are provided to illustrate the performance of the controller. Copyright © 2000 John Wiley & Sons, Ltd.

Adaptive partial state feedback control of the induction motor

In this paper, we present an adaptive, singularity free, partial-state feedback position tracking controller for the full-order, non-linear dynamic model of an induction motor driving a mechanical ...

Adaptive partial state feedback control of the induction motor: elimination of rotor flux and rotor velocity measurements

Adaptive partial state feedback control of the induction motor: elimination of rotor flux and rotor velocity measurements

An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements

This paper presents an adaptive partial state feedback controller for rigid-link flexible-joint (RLFJ) robots. The controller compensates for parametric uncertainty throughout the entire mechanical system while only requiring measurement of link position and actuator position. To eliminate the need for measuring link velocity and actuator velocity a set of filters is utilized as a surrogate for the unmeasurable quantities. Based on this set of filters, an adaptive integrator backstepping procedure is used to develop a torque input controller which guarantees semiglobal asymptotic link position tracking while also ensuring that all signals remain bounded during closed-loop operation. Simulation results for a two-link RLFJ robot are utilized to validate the performance of the proposed controller.

An adaptive partial state-feedback controller for RLED robot manipulators

An adaptive partial state-feedback controller is designed for rigid-link electrically driven (RLED) robot manipulators. The controller is based on structural knowledge of the electromechanical dynamics of the RLED robot and measurements of link position and electrical winding current in each of the brushed DC link actuators. The proposed controller is designed to adapt for parametric uncertainty in the electromechanical dynamics while utilizing a dynamic filter to generate link velocity tracking error information. The controller, adaptation laws, and the pseudovelocity filter are designed via a Lyapunov-like approach, the benefit of which is that at the end of the design procedure the controller can be mathematically shown to produce semiglobal asymptotic link position tracking. The basic design approach can be extended to many types of multiphase motors.