Title :
Robust adaptive control of a flexible transmission system using multiple models
Author :
Karimi, Alireza ; Landau, Ioan Doré
Author_Institution :
Dept. of Electr. Eng., Sharif Univ. of Technol., Tehran, Iran
fDate :
3/1/2000 12:00:00 AM
Abstract :
An application of the multiple models adaptive control based on switching and tuning to a flexible transmission system is presented. This approach has been considered in order to assure high control performance in the presence of large load variation on the system. The advantages of the multiple models adaptive control system with respect to the classical adaptive control is illustrated via experimental results. It is also shown that the robustness of the adaptive control system can be improved with the appropriate shaping of a sensitivity function. The use of a parameter estimation algorithm based on the minimization of the closed-loop output error in the multiple models scheme also improves the performance of the system in the tuning phase and makes the adaptation algorithm insensitive to unmodeled output disturbances
Keywords :
adaptive control; discrete time systems; materials handling; parameter estimation; pole assignment; position control; robust control; sensitivity; adaptation algorithm; closed-loop output error; flexible transmission system; high control performance; large load variation; multiple models; robust adaptive control; sensitivity function; unmodeled output disturbances; Adaptive control; Control systems; Least squares approximation; Load management; Minimization methods; Parameter estimation; Programmable control; Robust control; Robust stability; Tuning;
Journal_Title :
Control Systems Technology, IEEE Transactions on