Model Reference Adaptive Control of the Pneumatic System with Load Variation

Abstract

In this paper, a model reference adaptive control (MRAC) scheme is applied for the precise and robust motion control of a pneumatic system with load variation. The reference model for MRAC is designed systematically using linear quadratic Gaussian control with loop transfer recovery (LQG/LTR). The sigmoid function of inverse velocity is used to compensate for the nonlinear friction force between the sliding parts. The experimental results show that MRAC effectively overcame the limit of the PID controller when there was unknown disturbance, including abrupt load variation and model uncertainty in the pneumatic control system.

Adaptive Dynamic Cutting Force Control Analysis for Peripheral Milling

“…The most commonly used systems are Model Reference Adaptive Control (MRAC) and Self-Turning Regulations (STR). In [9], an investigation was presented on an adaptive model reference controller approach, simulating, evaluating, and physically implementing it. Continuous monitoring of the machining is necessary for effective automatization where the process takes place without human interference.…”