Taro Takagi

Parallel feedforward compensator design and ASPR based adaptive output feedback control for a time-delay system

This paper deals with a design problem of a parallel feedforward compensator (PFC) for designing a stable adaptive output feedback control of systems with a time delay. To design an adaptive output feedback control, the introduction of a PFC which renders the resulting augmented system with the PFC ASPR has been considered. However, the PFC design scheme for the time delay system have not been provided. In this paper, a PFC design method based on the idea of Smith predictor will be proposed and the stability of the adaptive output feedback control for time-delay systems with the proposed PFC will be analyzed.

Performance-Driven Adaptive Control System Design with a PFC Designed by System's Input/Output Data

Abstract This paper deals with a design problem of a performance-driven adaptive output feedback control with a parallel feedforward compensator (PFC). A PFC design method which using an input/output experimental data set will be proposed in order to design a performance-driven adaptive output feedback control system. Furthermore, the effectiveness of the proposed PFC design and an adaptive output feedback control method will be confirmed through numerical simulations.

Performance-driven adaptive output feedback control system with a PFC designed via FRIT approach

This paper deals with a design problem of a performance-driven adaptive output feedback control system with a parallel feedforward compensator (PFC) designed for making the augmented controlled system ASPR. In the proposed adaptive control system, for systems in which the properties are changing during the operation, the PFC will be redesigned through FRIT approach and the output feedback gain will be readjusted according to a performance index.

Output tracking control of discrete-time nonlinear systems by output feedback passivity based adaptive PID

In this paper, we propose a design scheme of an adaptive PID tracking control system for discrete-time nonlinear SISO systems. The proposed method utilizes the output feedback strictly passive (OFSP) properties of the controlled system, so that the stability of the resulting adaptive control system can be guaranteed with certainty. A robust adaptive PID design scheme for the OFSP augmented system with a parallel feedforward compensator without causality problems was developed by introducing an adaptive neural network (NN) feedforward control signal.

PFC design via FRIT approach and adaptive PID control system design for discrete-time systems

Abstract This paper deals with a design problem of an adaptive PID control for discrete-time systems with a parallel feedforward compensator (PFC) which is designed for making the augmented controlled system ASPR. A PFC design scheme by a FRIT approach with only using an input/output experimental data set will be proposed for discrete-time systems in order to design an adaptive PID control system. Furthermore, the effectiveness of the proposed PFC design and an adaptive PID control method will be confirmed through numerical simulations for an uncertain discrete-time system.

Parameter optimization of simple adaptive control via differential evolution

This paper deals with a parameter optimization problem of adjusting laws of simple adaptive control (SAC). SAC adjust their gains automatically, and thus the control system can be stable and can obtain a good control performance after a sufficient time. Although the control performance in a transient state depends on the parameter of adjusting laws, its decision method has not been proposed. For this problem, in the case of that a nominal model of plant is known, Differential Evolution (DE) is applied. Finally, we show a numerical experiment to confirm the effectiveness of the method.

Output tracking control of discrete-time nonlinear systems by adaptive PID based on output feedback passivity

In this paper, we propose a design scheme of an adaptive PID tracking control system for discrete-time nonlinear SISO systems. The proposed method utilizes the OFSP properties of the controlled system, so that the stability of the resulting adaptive control system can be guaranteed with certainty. A robust adaptive PID design scheme for the OFSP augmented system with a parallel feedforward compensator without causality problems was developed by introducing an adaptive NN feedforward control signal.

Predictive control system design with adaptive output estimator for non-uniformly sampled multi-rate systems and its application to liquid level control

This paper deals with a design problem on adaptive predictive control for non-uniformly sampled multi-rate systems. Using an adaptive output estimator with a simple structure for uncertain multi-rate sampled systems, an adaptive predictive control design method will be proposed for non-uniformly sampled multi-rate systems. The effectiveness of the proposed predictive control will be verified through experiments of liquid level control of two-tank system.

ASPR based adaptive output feedback control system design via T-S fuzzy model for nonlinear systems

This paper deals with a design problem of an adaptive output feedback control system for nonlinear and/or parameter varying systems via T-S fuzzy model. The almost strictly positive real (ASPR) based adaptive control system with a parallel feedforward compensator (PFC) will be proposed for nonlinear and/or parameter varying systems which can be modelled by a T-S fuzzy model and stability of the obtained control system will be analyzed.

Simple adaptive control system design for a quadrotor with an internal PFC

The paper deals with an adaptive control system design problem for a four rotor helicopter or quadrotor. A simple adaptive control design scheme with a parallel feedforward compensator (PFC) in the internal loop of the considered quadrotor will be proposed based on the backstepping strategy. As is well known, the backstepping control strategy is one of the advanced control strategy for nonlinear systems. However, the control algorithm will become complex if the system has higher order relative degrees. We will show that one can skip some design steps of the backstepping method by introducing a PFC in the inner loop of the considered quadrotor, so that the structure of the obtained controller will be simplified and a high gain based adaptive feedback control system will be designed. The effectiveness of the proposed method will be confirmed through numerical simulations.