Robust Performance of Sampled-data Adaptive Control. From Simulation to Experimental Results

• Autorzy: Horla D.

Identyfikatory

DOI

10.14313/JAMRIS_2-2015/11

• Języki publikacji: EN

Abstrakty

EN

The paper considers robustness aspects of adaptive control in application to sampled-data systems with poleplacement controller subject to plant-model mismatch, in the sense of mistuning to model parameters with respect to their „true” values. The paper extends the results presented in author’s previous work respecting comparison of sampled-data and discrete-time control systems to experimental results obtained from the control system of a servo drive. Firstly, the adaptive sampleddata controller is introduced and is applied by means of simulation, secondly, it is implemented in real-time control system to extend robust performance issues to realworld control systems. Finally, the regions of robust performance are shown on parameter surface, i.e. visualisation of parameters? span for which there is no severe performance degradation in comparison to the best plantmodel matching, as a function of sampling interval.

Słowa kluczowe

EN

adaptive control; robustness; sampled-data systems; servo

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 2
• Strony: 3--8
• Opis fizyczny: Bibliogr. 5 poz., rys.

Twórcy

autor

Horla D.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3a, 60-965 Poznan, Poland

Bibliografia

• [1] D. Horla, ”Robustness of discrete-time and sampled-data adaptive control”. In: Proceedings of the IFAC International Workshop on the Adaptation and Learning in Control and Signal Processing, Antalya 2010, CD-ROM, DOI: 10.3182/20100826-3-TR-4015.00032.
• [2] Fekri S., Athans M., Pascoal A., ”Issues, progress and new results in robust adaptive control”, Int. J.Adapt. Control Signal Process., 2006, vol. 20, 519?-579, DOI: 10.1002/acs.912.
• [3] R. Isermann, K.-H. Lachmann and D. Matko., Adaptive Control Systems, UK, Prentice Hall International 1992, pp. 19–64, 69–83, 137–184.
• [4] Krolikowski A., Horla D., System Identifiication. Discrete-time Methods, 2nd ed., Publishing House of Poznan University of Technology, Poznan 2010.
• [5] Ljung L., Recursive Identifiication Algorithms, technical report, Linköping, Linköping University 2000.