Adaptive Inverse Control Based on Nonlinear Adaptive Filtering

Abstract

Many problems in adaptive control can be divided into two parts; the first part is the control of plant dynamics, and the second is the control of plant disturbance. Very often, a single system is utilized to achieve both of these control objectives. The approach of this paper treats each problem separately. Control of plant dynamics can be achieved by preceding the plant with an adaptive controller whose transfer function is the inverse of that of the plant. Control plant disturbance can be achieved by an adaptive feedback process that minimizes plant output disturbance without altering plant dynamics. The adaptive controller is implemented using adaptive filters.

Application of neural networks with orthogonal activation functions in control of dynamical systems

“…First, it could make the system more robust to noise by properly containing states of the network (Lin, Horne, Tino, & Giles, 1995), contributing to the optimal performances in such a way. Second, the non-linear NARX filter in the form of a non-linear controller could remove unwanted disturbance (noise) from signal (Widrow, Plett, Ferreira, & Lamego, 1998). Disturbance removal is performed by filtering the disturbance estimations with the International Journal of Electronics 9 non-linear filter and adding the filters' output signal to the control signal.…”

Efficient Linear MIMO Adaptive Inverse Control

“…This rule, commonly known as the matrix-LMS algorithm is well described in several textbooks (Haykin, 1996;Widrow and Stearns, 1985). Other, more sophisticated, algorithms, such as matrix-RLS (see the algorithm in Alg.…”

“…A number of ways have been proposed to adapt a controller for a linear MIMO system (Plett, n.d.;Plett, 1998;Widrow et al, 1998;Widrow and Plett, 1997;Widrow and Walach, 1996). These methods tend to make inefficient use of the available data and are slow.…”

“…Adaptive inverse control is an automatic controlsystem design method which learns how to control a specific plant (Plett, n.d.;Plett, 1998;Widrow et al, 1998;Widrow and Plett, 1997;Widrow and Walach, 1996;Widrow and Plett, 1996a;Widrow and Plett, 1996b;Widrow and Plett, 1996c). Adaptive filtering methods are used throughout.…”

Flying Qualities Built-In-Test For Unmanned Aerial Systems

“…While accurate modeling can prevent such a disastrous occurrence, anomalies can unexpectedly change that. By adding an adaptive component in the form of a system identification algorithm, pole-zero cancellation can be reliably achieved 42 . Metrics on system robustness are calculable only in the case of adaptive plant inversion.…”