In this thesis the basic types of behavior exhibited by the method are explored. In many instances there is more than one control solution. Adaptive geometry inventor autodesk knowledge network. Pdf a system with multiple models and adaptive control will be presented. The proposed controllers are compared to a linear state feedback controller and a linear multiplemodel adaptive controller mmac using a. In control system designer, you can specify multiple models for any plant or sensor in the current control architecture using an array of lti models see model arrays. In mrc, the desired plant behavior is described by a reference model which is simply an lti system with a transfer function w m s and is driven by a reference input.
Model reference adaptive control adaptive pole placement control adaptive control for nonlinear systems. Create and simulate a model predictive controller for a plant with multiple inputs and a single output. Stability analysis of robust multiple model adaptive control. Parameter adaptive control algorithmsa tutorial sciencedirect. Multiple model adaptive control with safe switching. The default index is 1 for each plant or sensor that is defined as a model array, the app selects the model at the specified index as the nominal model. Multiple model adaptive estimation for inertial navigation during mars entry jeremy m. The stability proofs are often long and technical and possibly distracting to readers who prefer to focus on the design and implementation of adaptive control. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a.
Adaptive control is roughly divided into two categories. Ioannou and sun, robust adaptive control, prenticehall, 1996. These controllers demonstrate the variety of ways in which multilayer perceptron neural networks can be used as basic building blocks. Control based on multiple models mm is an effective strategy to cope. Multiple model adaptive estimation and model identication using a minimum energy criterion vahid hassani, a. Here, the model refers to a mathematical representation describing the relationship between the process input and output. You restore the model using the resume operation, also available on the toolbar. Multiple model multiple controller adaptive control.
However, in these applications, many undesirable characteristics of the method, such as high amplitude limit cycles, have been uncovered. Furthermore, multiplemodel adaptive control with switching is an illustration of the combination of robust and adaptive control and is covered in depth in the new edition. For the adaptive control a microcomputer based on an intel sbc 8010 was used bergmann, radke and isermann, 1978. Themultiple model adaptive control algorithm has been used in appli cations of advanced control technology. Multiple model adaptive control for a class of linearbounded. However, from a computational point of view, multiple adaptive models are. The stochastic control of the f8c aircraft using the multiple model adaptive control mmac method.
Adaptive control tutorial petros ioannou and baris fidan designed to meet the needs of a wide audience without sacrificing mathematical depth and rigor, adaptive control tutorial presents the design, analysis, and application of a wide variety of algorithms that can be used to manage dynamical systems with unknown parameters. Lam orbital sciences corporation, dulles, va 20166 a multiple model adaptive estimation mmae scheme is derived to determine both the. Multiple model adaptive estimation for inertial navigation. Examples of these challenging domains include aircraft adaptive control under uncertain disturbances 1, 2, multiplevehicle tracking with spacedependent uncertain dynamics 3, 4, roboticarm control 5, blimp control 6, 7, mobile robot tracking and localization 8. Adaptive parts and geometry have underconstrained features, and adjust to design changes. Nonlinear model reference adaptive control with embedded. The paper describes the efforts to increase substantially the scope of adaptive control by using multiple models, switching, and tuning. In this paper, we consider an important class of adaptive control architectures, referred to as multiple model adaptive control mmac. The convergence of multiple model adaptive control based on adp is proved and the simulation shows that the proposed method can improve the transient response of system effectively. An adaptive controller differs from an ordinary controller in that the controller parameters are variable, and there is a mechanism for adjusting these parameters online based on signals in the system. Pdf the stochastic control of the f8c aircraft using the. As shown in figure 1, a model based selftuning adaptive control system has 3 major components.
Adaptive control with multiple models is a particular form of. A simulation example is presented to demonstrate the effectiveness of the proposed method. However, there are good reasons to work with a nite. Algorithm for multiple model adaptive control based on inputoutput plant model tsonyo slavov department of automatics, technical university of sofia, 1756 sofia, bulgaria email. To select a nominal model from the array of lti models, in control system designer, click multimodel configuration. Parameter adaptive control algorithmsa tutorial 525 the variable gain k of the plant with position u of the split range valve for the warm water flow as input and the air temperature ol as output is shown in fig. Adaptive control has been a remarkable field for industrial and academic research since 1950s. In 4, by introducing an information theoretic measure, the authors analyzed the convergence of the conditional probabilitiespi and showed that the one corresponding to the kf. This manual is not a substitute for such expertise and judgment. Adaptive control covers a set of techniques which provide a systematic approach for automatic adjustment of the controllers in real time, in order to achieve or to maintain a desired level of performance of the control system when the parameters of the plant dynamic model are unknown. In particular, we are going to address the case where the process model has one parametric uncertainty, p2p min. However, there are good reasons to work with a finite. Abstractthis paper addresses the problem of multiple model adaptive estimation mmae for discretetime, linear, timeinvariant mimo plants with parameter uncertainty and.
If you specify model arrays for more than one plant or sensor, the lengths of the arrays must match. The multiple models adaptive control procedure proposed has the following advantages. Het schakelmechanisme evalueert, door enkel gebruik te maken van het ingang en uit. Nonlinear model based fault detection of lithium ion. August 2429, 2014 nonlinear model based fault detection of lithium ion battery using multiple model adaptive estimation amardeep singh, afshin izadian, sohel anwar department of mechanical engineering, iupui, indianapolis, in 46202 usa tel. Design and implementation of an optimal multiplemodel. There are two important problems associated with multiplemodel controllers. Coding it in now that you have everything in rst order form, you will need the following commands in your main code. Adaptive control evolved over the years to become an accepted subject taught in many schools as an advanced control course. Butler, modelreference adaptive controlfrom theory to practice, prenticehall, 1992 guy dumont ubc eece eece 574. Adaptive collaboration model for organizational change. Multiplemodel adaptive control mmac is shown to be an effective strategy for controlling nonlinear chemical processes. The key difference between adaptive controllers and linear controllers is the adaptive controllers ability to adjust itself to handle unknown model uncertainties. Multiplemodel adaptive flight control scheme for accommodation of actuator failures.
It is not necessary to stipulate at the outset that the controller family is finite see, for example morse. For example, under the mixture model and in the continuous case, efdptbh 1 a. In the context of adaptive control, robustness also concerns the parameter adaptation algorithms and this issue is addressed in detail. Multiple model adaptive control of functional electrical stimulation o. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. Cv errors are minimized first, followed by mv errors connoisseur allows for a multimodel approach and an adaptive approach. Multiple model adaptive tracking control based on adaptive. The advantages of this control with respect to the classical control will be. After describing the problem, the stability of the control scheme is verified in theory. Model reference adaptive systems the mrac or mras is an important adaptive control methodology 1 1see chapter 5 of the astrom and wittenmark textbook, or h. Next, section 5 provides an illustrative example, and finally we. Multiple model adaptive estimation and model identification.
A good understanding of adaptive control involves a good knowledge of control design for linear timeinvariant systems, basic stability theory of nonlinear systems, and some mathematical maturity. Adaptive control with multiple models, switching and tuning. Create and simulate a model predictive controller for a mimo plant. Adaptive control is an active field in the design of control systems to deal with uncertainties. Adaptive control tutorial society for industrial and. It is not necessary to stipulate at the outset that the controller family is nite see, for example. Multiplemodel based adaptive control design for parametric and matching uncertainties. Many challenging realworld control problems require adaptation and learning in the presence of uncertainty. Index termsestimation based multiple model switched adaptive control emmsac. Recently, an indirect multiple model adaptive control was developed in 12 which also demonstrated the global asymptotic stability of the closeloop switching system. In control theory, multiple models is an approach to improve efficiency of adaptive system or observer system. The most common methods used in the literature for multiple model estimation are multiple model adaptive estimation mmae and interacting multiple model imm.
Algorithm for multiple model adaptive control based on input. Automatic learning in multiple model adaptive control. Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. Aalborg universitet multiple model adaptive control. Proceedings of the 19th world congress the international federation of automatic control cape town, south africa. Pdf adaptive control using multiple models, switching. Introduction a multiple model adaptive control scheme consists of a set of candidate plant models, each with an associated controller, coupled with an online process for ranking the ability of each model to explain the observed signals. Both deterministic and stochastic systems are considered. Adaptive control of nonlinear systems appendix bibliography index.
The bh procedure thus overcontrols fdr and thus will not in general minimize fnr. Lourenco jm, lemos jm 2006 learning in switching multiple model adaptive control. The robust multiple model adaptive control rmmac methodology was first introduced in fekri et al. Integration of the stability overlay so with the robust multiple model adaptive control rmmac. Control of a multiinput multioutput nonlinear plant. Adaptive actuator failure compensation using multiplemodel switching. In this article, a multiplemodel adaptive controller is designed for a singleaxis system. Such work requires coordinated, full, and flexible use of qualities of a top manager of an organization, a change management team, and a staff conducting changes. Multiplemodel adaptive control with setvalued observers. One of the more recent approaches to adaptive control is termed multiple model adaptive control morse, 1996, 1998a,b. Ioannou and fidan, adaptive control tutorial, siam, 2006. An algorithm for multiple model adaptive control of a timevariant plant in the presence of measurement noise is proposed. One model is chosen at every instant, which is closest to the plant according to some metric. In the former, not only the problem of model uncertainty is addresses, but also the problem.
You control the elements that you want to remain a fixed size or position. Adaptive predictive control using multiple models, switching and tuning leonardo giovanini, andrzej w. For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption. Adaptive control using multiple models, switching and. Multiple model adaptive evasion against a homing missile. In this chapter, we design and analyze a wide class of adaptive control schemes based on model reference control mrc referred to as model reference adaptive control mrac. Adaptive control tutorial advances in design and control. Adaptive control tutorial request pdf researchgate. The area of adaptive control has grown to be one of the richest in terms of algorithms, design techniques, analytical tools, and modi. Application of multiplemodel adaptive control strategy for robust. Adaptive control tutorial petros ioannou and baris fidan. Several books and research monographs already exist on the topics of parameter estimation and adaptive control. Request pdf adaptive control using multiple models, switching and tuning the past decade has witnessed a great deal of interest in both the theory and practice of adaptive control using. Cv errors are minimized first, followed by mv errors connoisseur allows for a multi model approach and an adaptive approach.
Most control algorithms use a single quadratic objective the hiecon algorithm uses a sequence of separate dynamic optimizations to resolve conflicting control objectives. Concepts, principles, and methods of conducting adaptive changes 3,4 create the need for adaptive collaboration. Power can be improved in nonsparse cases by more complicated adaptive procedures. Multiple model adaptive evasion strategies from an incoming homing missile are presented. Create and simulate a model predictive controller for a siso plant. Adaptive dynamic programming adp has been tested as an effective method for optimal control of nonlinear system. Butler, model reference adaptive control from theory to practice, prenticehall, 1992 guy dumont ubc eece eece 574. The structure of the mmac strategy is shown, including comments on implementation issues. Adaptive control tutorial is designed to serve the needs of three distinct groups of readers. Pdf integration of the stability overlay so with the. Robust stability for multiple model adaptive control. A p edagogical example matthe w k uipers and petros ioannou abstract w e apply the adaptiv e mixing control appr oach. Petros ioannou and baris fidan, adaptive control tutorial, siam. Multiple model adaptive control of functional electrical.
A component cannot be both adaptive and flexible at the same time. This paper presents an overview of the recent research on multiple model filters. Professional expertise and judgment are required for the design of a control system. Adaptive control systems are time varying and nonlinear, thus more challenging to analyze and understand than traditional linear time invariant controllers. A benchmark example is presented, which is used to compare the adaptive mixing controller with other adaptive schemes. It uses large number of models, which are distributed in the region of uncertainty, and based on the responses of the plant and the models. Adaptive control with multiple models classical adaptive control simulation 0 adaptive.
When you designate underconstrained geometry as adaptive, you specify the geometric elements allowed to change. There are two main approaches for constructing adaptive controllers. Multiple model adaptive control using dual youlakucera factorisation. Always consult a licensed engineer for advice on designing control systems. In this work, a new method of design adaptive controllers for siso systems based on multiple models and switching is. It is also the basis for multiplemodel adaptive control, see 7, 10 16. Model reference adaptive control is one of the popular methods that simultaneously deals with uncertainties and reduces conservatism. Multiple model adaptive control is threated also in anderson et al. The problem is formulated in the context of an evading target aircraft having imperfect information on the relative state and on the employed guidance law and guidance parameters of.