Adaptive Law with Variable Dead Zone Width Using a Priori Data

Kosaka, Manabu; Kimura, Fumitaka; Shibata, Hiroshi

doi:10.9746/sicetr1965.34.1025

Cited by 2 publications

(4 citation statements)

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“…be the feedback controller where S mn (q), T mn (q), R(q), X(q) and Y(q) are polynomials of q, R(q) is stable, S mn (q) and R(q) are coprime, and so are T mn (q) and R(q). Figure 1(a) shows the control system expressed by equation 1, and Figure 1(b) shows the equivalent system expressed by equation (2).…”

Section: Problem Statementmentioning

confidence: 99%

“…In this paper, we describe an adaptive control composed of an estimation law using variable dead zone [2] and the control law referring to the complementary sensitivity function [3]. This reference [3] shows how to initialize the parameters in control law.…”

Section: Introductionmentioning

confidence: 99%

“…In [1], the fixed dead zone width is shown to be the maximum value of the disturbance d(k), but it is not shown how to initialize the adaptation gain. A variable dead zone method [2] based on a time variable gain matrix has a variable dead zone αd 0 (k) as a tuning parameter. α is a constant in dead zone width and where u(k), N(q) and D f (q) are respectively input, plant nominal numerator polynomial and a rational function determined later.…”

Section: Introductionmentioning

confidence: 99%

“…The variable dead zone has better sensitivity than the fixed one to characteristic change of control object. In [2], it is shown how to initialize αd 0 (k) by using previously measured input and output data for time invariant plant.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Automatic Initialization of Adaptive Control Using Previously Measured Input and Output Data

Kosaka

Shibata

2004

Journal of Low Frequency Noise, Vibration and Active Control

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It is useful for the system engineer to initialize the tuning parameters of an adaptive control automatically because less experienced engineers often cause excessive noise and vibration from mechanical plants in the parameter initializing experiment. The adaptation gain and the width of the dead zone are the tuning parameters of the estimation law using the dead zone, and the control law also has additional tuning parameters. In this paper, we propose a new automatic initialization method for an adaptive control with a few tuning parameters that are determined by previously measured input and output data. The width of the dead zone in the estimation law is changed at each iteration depending on the input signal by the function determined by previously measured input and output signals. The control law used here is an H∞ control one [3] that stabilizes the control system and minimizes a kind of H∞ norm of the sensitivity function and the complementary sensitivity function if the upper bound of the unstructured uncertainty of the control object is known. Furthermore, we apply the proposed method to an electro-hydraulic servo system and verify the effects by an experiment.

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Section: Problem Statementmentioning

confidence: 99%