Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd
Upload
136 views

Adaptive Control: Belen, Carla Cadiz, Nino Celemin, Carlvinn Evangelista. Dale Hong, Jericho SNG Daryl

Adaptive control provides adaptation that adjusts a controller for a system with parametric, structural, and environmental uncertainties to achieve system performance. It is the combination of a parameter estimator, which generates parameter estimates online, and a control law. Unlike other controllers, adaptive control can control classes of plants whose parameters are unknown and could change unpredictably over time. Some applications of adaptive control include temperature control, chemical reactor control, and aircraft autopilot systems.

Uploaded by

Carla Belen
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
136 views

Adaptive Control: Belen, Carla Cadiz, Nino Celemin, Carlvinn Evangelista. Dale Hong, Jericho SNG Daryl

Adaptive control provides adaptation that adjusts a controller for a system with parametric, structural, and environmental uncertainties to achieve system performance. It is the combination of a parameter estimator, which generates parameter estimates online, and a control law. Unlike other controllers, adaptive control can control classes of plants whose parameters are unknown and could change unpredictably over time. Some applications of adaptive control include temperature control, chemical reactor control, and aircraft autopilot systems.

Uploaded by

Carla Belen
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 7

Adaptive Control

Belen, Carla
Cadiz, Nino
Celemin, Carlvinn
Evangelista. Dale
Hong, Jericho
Sng Daryl
What is Adaptive Control?
 Payload variation or component aging causes parametric
uncertainties, component failure leads to structural uncertainties and
external noises are typical environmental uncertainties.
 Adaptive control provides adaptation that adjust a controller for a
system with parametric, structural and environmental uncertainties
to achieve system performance.
 Applications: temperature control, chemical reactor control, pulp
dryer control, rolling mill control, automobile control, ship steering
control, blood pressure control, artificial heart control, robot control
and physiological control.
 Unlike other controllers, adaptive control is the combination of a
parameter estimator, which generates parameter estimates online,
with a control law in order to control classes of plants whose
parameters are completely unknown and/or could change with time
in an unpredictable manner.
 The design of autopilots for high-performance aircraft was one of
the primary motivations for active research in adaptive control in the
early 1950s. Aircraft operate over a wide range of speeds and
altitudes, and their dynamics are nonlinear and conceptually time-
varying.
 For a given operating point, the complex aircraft dynamics can be
approximated by a linear model. For example, for an operating point
i, the longitudinal dynamics of a aircraft model may be described by
a linear system of the form:

where the matrices Ai, Bi, Ci and Di are functions of the operating point i; x is the
state; u is the input; and y is the measured outputs. As the aircraft goes through
different flight conditions, the operating point changes, leading to different values
for Ai, Bi, Ci and Di . Because the measured outputs carry information about the
state x and parameters, one may argue that, in principle, a sophisticated feedback
controller could learn the parameter changes, by processing the outputs y(t), and
use the appropriate adjustments to accommodate them. This argument led to a
feedback control structure on which adaptive control is based.
 The controller structure consists of a feedback loop and a controller
with adjustable gains.
 The way of adjusting the controller characteristics in response to
changes in the plant and disturbance dynamics distinguishes one
scheme from another.
Simple Adaptive Control Systems
 Direct Adaptive Control
• The major advantage of the proposed method is that a detailed
dynamic nonlinear model is not required for controller design.
• The only information required about the plant is measurements of the
state variables, the relative degree, and the sign of a Lie derivative
which appears in the associated input–output linearizing control law.
Unknown controller functions are approximated using locally
supported radial basis functions that are introduced only in regions
of the state space where the closed loop system actually evolves.
Lyapunov stability analysis is used to derive parameter update laws
which ensure (under certain assumptions) the state vector remains
bounded and the plant output asymptotically tracks the output of a
linear reference model.
 In adaptive control systems, the controller parameters are directly
updated from an adaptive law. There are two commonly used designs
for direct adaptive control: a Lyapunov design and a gradient design.
Lyapunov Design Example
 Example. Let us consider a first-order linear time in-variant plant.

where the constant ap is the plant parameter, y(t) is the plant output
with initial value y(0)= yo and u(t) is the control output.
The control objective is to design a feedback control u(t) such that all
closed-loop system signals are bounded and the plant output y(t)
tracks. Asymptotically, the output ym(t) of a chosen reference model

With ym(0)=ym0, where am>0 for stability and performance and r(t) is a
bounded external input which characterizes desired system
response.
 Design for ap known. When the plant parameter ap is known, we use
the feedback controller

Where

With this controller, the closed-loop system is

Define the tracking error as e(t)=y(t)-ym(t). Then we have a tracking


error equation of

With e(0)=y(0)-ym(0). The solution to this equation is e(t)= e-amte(0)


,t>=0, which has the desired property, e(t) is bounded and so are
y(t) and u(t). Moreover, lim of e(t) = 0. Hence, we achieved the
control objective.

You might also like