The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 28-142
Full Name: József K Tar
Position: Professor
Age: ON
Sex: Male
Address: Budapest Tech, Institute of Intelligent Engineering Systems, H-1034 Budapest, Bécsi út 96/B
Country: HUNGARY
Tel: +36-1-666-5543, +36-1-666-546
Tel prefix:
Fax: +36-1-666-5545
E-mail address: tar.jozsef@nik.bmf.hu
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Title of the Paper: On the Robustness of the Slotine-Li and the FPT/SVD-based Adaptive Controllers
Authors as they appear in the Paper: J.K. Tar, I.J. Rudas, Gy. Hermann, J.F. Bitó, J.A. Tenreiro Machado
Email addresses of all the authors: tar.jozsef@nik.bmf.hu,rudas@bmf.hu,hermann.gyula@nik.bmf.hu,bito@bmf.hu,jtm@isep.ipp.pt
Number of paper pages: 15
Abstract: A comparative study concerning the robustness of a novel, Fixed Point Transformations/Singular Value Decomposition (FPT/SVD)-based adaptive controller and the Slotine-Li (S&L) approach is given by numerical simulations using a three degree of freedom paradigm of typical Classical Mechanical systems, the cart + double pendulum. The effects of the imprecision of the available dynamical model, presence of dynamic friction at the axles of the drives, and the existence of external disturbance forces unknown and not modeled by the controller are considered. While the Slotine-Li approach tries to identify the parameters of the formally precise, available analytical model of the controlled system with the implicit assumption that the generalized forces are precisely known, the novel one makes do with a very rough, affine form and a formally more precise approximate model of that system, and uses temporal observations of its desired vs. realized responses. Furthermore, it d!
oes not assume the lack of unknown perturbations caused either by internal friction and/or external disturbances. Its another advantage is that it needs the execution of the SVD as a relatively time-consuming operation on a grid of a rough system-model only one time, before the commencement of the control cycle within which it works only with simple computations. The simulation examples exemplify the superiority of the FPT/SVD-based control that otherwise has the deficiency that it can get out of the region of its convergence. Therefore its design and use needs preliminary simulation investigations. However, the simulations also exemplify that its convergence can be guaranteed for various practical purposes.
Keywords: Fixed Point Transformation, Singular Value Decomposition, Slotine-Li Robot Control, Adaptive Control, Robustness Analysis, Complete Stability, Lyapunov Function, Sliding Mode/Variable Structure Controllers
EXTENSION of the file: .pdf
Special (Invited) Session: Analysis of an SVD-Based Adaptive Controller Using the Double Pendulum + Cart System as a Paradigm
Organizer of the Session: 594-419
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