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Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators
Zhang Bi(张弼)1; Zhao XG(赵新刚)1; Li, Xiao-Guang2; Zhang DH(张道辉)1
Department机器人学研究室
Source PublicationIEEE Access
ISSN2169-3536
2018
Volume6Pages:35809-35823
Indexed BySCI ; EI
EI Accession number20182705387045
WOS IDWOS:000439022000049
Contribution Rank1
Funding OrganizationNational High Technology Research and Development Program of China (863 Program) ; National Natural Science Foundation of China
KeywordAdaptive Control Unmodeled Dynamics Stability Robustness Sma Actuator
Abstract

In this paper, a new robust adaptive control method has been proposed for nonlinear systems with uncertainties. This method combines the advantages of self-tuning control and sliding mode control. A simple parameterization model is firstly derived based on a linear dynamic model and unmodeled dynamics. Based on a modified sliding surface, the design procedure is based on the indirect adaptive control concept. This controller consists of four parts: the system parameters estimation, the unmodeled dynamics estimation, the weighting polynomials updating and the control law calculation. The key merits of this controller are as follows: (i) the controller is applicable to non-minimum phase and open-loop unstable systems; (ii) the estimation of the unmodeled dynamics is introduced as a feedback compensation control to improve the response; (iii) the strict stability condition is eliminated and a desirable performance is ensured during a wide operation region. Moreover, the control problem of a shape memory alloy (SMA) actuator system is considered. In the literature, the mechanism model based controllers have been extensively reported to address this issue. As an alternative, we describe this plant as a gray-box model. The adaptation algorithm and the control law have been implemented through the Beckhoff controller. The experimental results have demonstrated that the proposed controller has wider applicability than some existing methods.

Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS KeywordSliding Mode Control ; Self-tuning Control ; Neural-networks ; Multivariable Systems ; Position Control ; Multiple Models ; Sma Actuator ; Tracking
WOS Research AreaComputer Science ; Engineering ; Telecommunications
Funding ProjectNational High Technology Research and Development Program of China (863 Program)[2015AA042302] ; National Natural Science Foundation of China[61773369] ; National Natural Science Foundation of China[61573340]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22145
Collection机器人学研究室
Corresponding AuthorZhao XG(赵新刚)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China
2.Shenyang University of Technology, Shenyang, Liaoning, China
Recommended Citation
GB/T 7714
Zhang Bi,Zhao XG,Li, Xiao-Guang,et al. Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators[J]. IEEE Access,2018,6:35809-35823.
APA Zhang Bi,Zhao XG,Li, Xiao-Guang,&Zhang DH.(2018).Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators.IEEE Access,6,35809-35823.
MLA Zhang Bi,et al."Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators".IEEE Access 6(2018):35809-35823.
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