Authors: None

Abstract:

Keywords:

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00001

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: c1-c1

Authors: None

Abstract:

Keywords:

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00076

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: c4-c4

Authors: Brian D. O. Anderson; Arvin Dehghani

Abstract: This paper reviews three different types of challenges to adaptive control. The first group comprises challenges met in the subject's development. They include difficulties associated with the MIT rule, bursting, the Rohr's counterexample and unplanned instability in iterative identification and control. An understanding of these phenomena and mitigating strategies are now available. The second group comprises difficulties that are intrinsic to virtually any adaptive control algorithm, and that have frequently been overlooked. For example, if a plant is unknown, and a control objective is set, the objective may in practical terms be unachievable, and any adaptive control algorithm needs to deal with that possibility. The third group comprises some issues to which researchers are currently devoting significant attention, including multiple model adaptive control and model free design.

Keywords: adaptive control,adaptive systems,multiple model adaptive control,model free design

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00002

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 1-12

Authors: Felix L. Chernousko

Abstract: Progressive motions of two-mass systems in resistive media are analyzed. The motion control is implemented by means of periodic relative displacements of the masses. Different kinds of resistance forces acting upon the system are considered, including linear and nonlinear resistance depending on the velocity, as well as Coulomb's dry friction forces. Constraints are imposed on the relative displacements and velocities of the masses. Optimal periodic motions are determined that correspond to the maximal average speed of the system as a whole. Experimental data confirm the theoretical results obtained. Models of mobile minirobots are described which are based on the principle presented in the paper.

Keywords: multibody system,periodic motions,periodic control,optimal control,mobile robots

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00003

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 13-19

Authors: Miroslav Krstic; Andrey Smyshlyaev

Abstract: This paper presents several recently developed techniques for adaptive control of PDE systems. Three different design methods are employed--the Lyapunov design, the passivity-based design, and the swapping design. The basic ideas for each design are introduced through benchmark plants with constant unknown coefficients. It is then shown how to extend the designs to reaction-advection-diffusion PDEs in 2D. Finally, the PDEs with unknown spatially varying coefficients and with boundary sensing are considered, making the adaptive designs applicable to PDE systems with an infinite relative degree, infinitely many unknown parameters, and open loop unstable.

Keywords: backstepping,distributed parameter systems,adaptive control

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00004

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 20-31

Authors: Anton S. Shiriaev; Leonid B. Freidovich; Ian R. Manchester

Abstract: This paper provides an introduction to several problems and techniques related to controlling periodic motions of dynamical systems. In particular, we define and discuss problems of motion planning and orbit planning, analysis methods such as the classical Poincaré first-return map and the transverse linearization, and exponentially orbitally stabilizing control designs. We begin with general nonlinear systems, and then specialize to a class of underactuated mechanical systems for which a particularly rich structure allows many of the problems to be solved analytically. The paper concludes with a discussion of numerical issues related to control design via periodic Riccati equations.

Keywords: transverse linearization,orbital stabilization,periodic motions,underactuated mechanical systems,virtual holonomic constraints

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00005

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 32-43

Authors: Osamu Kaneko; Makoto Miyachi; Takao Fujii

Abstract: In the present paper, we propose a new identification method by adapting the "fictitious controller" to the obtained data in the closed loop experiment. A fictitious controller, which is introduced in this paper, consists of the nominal model with unknown plant parameters and the implemented controller used in the closed loop. One of the key points of the present method is the adaptation of such a controller to the actual experiment data. Moreover, the adaptation can be performed by using an off-line nonlinear optimization. Since the required material in the proposed method is only one-shot experimental data under the normal operation like step responses, this method has a practical advantage in the sense that the costs and time for the identification can be reduced.

Keywords: tuning,identification,fictitious controller,adaptation

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00006

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 44-49

Authors: Jani Even; Kenji Sugimoto

Abstract: This paper proposes a method for modeling and compensating nonlinear input distortion in MIMO dynamical systems. This is conducted in three steps. First, the distorted signals are recovered from the observed output by using blind signal deconvolution based on statistical independence of the input signals. The linear part of the system is also identified in this first step. Secondly, the recovered signal, together with the input signal, gives a model of distortion as a nonlinear function. Finally the distortion is compensated by applying the inverse of the estimated function.

Keywords: nonlinear distortion,modeling,independent component analysis

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00007

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 50-55

Authors: Kenji Ikeda; Yoshio Mogami; Takao Shimomura

Abstract: In this paper, a bias-compensating method for a continuous-time model estimation by using adaptive observer is proposed. It is assumed that the observation noise is a white Gaussinan signal while there are no process noises. The proposed method is applicable for the identification in the closed loop environment.

Keywords: continuous-time systems,parameter estimation,closed loop systems,bias compensation,adaptive filters

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00008

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 56-61

Authors: Basel Alali; Kentaro Hirata; Kenji Sugimoto

Abstract: Motivated by the recent development of Feedback Error Learning (FEL), this paper proposes a method for closed-loop identification of a Multi Input Multi Output (MIMO) plant. Given a control system roughly designed, a feedforward controller is constructed by learning to achieve desirable responses. Then the learned feedforward controller gives a model of the plant, which will be effective for re-designing the control system to improve the performance. The effectiveness of the method is verified through numerical simulation.

Keywords: feedback error learning,closed-loop identification,MIMO system

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00009

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 62-68

Authors: Takayuki Kono; Toru Yamamoto; Takao Hinamoto; Sirish L. Shah

Abstract: In industrial processes, in order to improve the productivity, it is necessary to establish the performance-driven control mechanism, which the control performance is firstly evaluated, and the controller is reconstructed. Moreover, since most processes have nonlinearities, controller design schemes to deal with such systems are required. This paper describes a design scheme of data-driven performance-adaptive PID controllers. According to the proposed control scheme, the data-driven system identification which is effective for nonlinearity works corresponding to the result of modeling performance assessment, and PID parameters are computed using the newly estimated system parameters. Finally, a simulation example is discussed.

Keywords: PID control,data-base,nonlinear systems,self-adjust systems

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00010

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 69-74

Authors: Shiro Masuda; Akira Fujimori; Hideyuki Nishida; Chikashi Nakazawa; Tetsuro Matsui; Yoshikazu Fukuyama

Abstract: This paper proposes a moving horizon simultaneous estimation of process gain and disturbances for discrete-time linear systems with unknown process gain so as to minimize a moving-horizon performance index. The proposed method uses discrete-time Euler-Lagrange equations in order to derive the proposed adaptive disturbance estimator. A numerical simulation for an oxygen converter gas recovery process shows the efficiency of the proposed method.

Keywords: adaptive observer,disturbance estimation,moving-horizon estimation,an oxygen converter gas recovery process

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00011

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 75-80

Authors: S. D. Zemlyakov; V. Yu. Rutkovsky; V. M. Glumov; V. M. Sukhanov

Abstract: This paper deals with the control problem of complex objects on the base of the model reference adaptive principle. For decomposition and precise control new algorithms are discovered. A space robotic module is considered as the example of a complex object. Computer simulation demonstrates good results.

Keywords: complex object,decomposition,model reference adaptive control,Lyapunov function,simulation

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00012

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 81-85

Authors: Antonio Loria; Elena Panteley

Abstract: We present necessary and sufficient conditions for uniform global asymptotic stability of Model-Reference Adaptive Control (MRAC) systems. Our conditions are stated in terms of a notion of persistency of excitation (PE) that is tailored for nonlinear systems; in particular, it applies to functions of time and state and allow critical cases such as vanishing at the origin. Thus, this property generalizes classical PE and rigourously settles conditions that were previously inferred without strict proof.

Keywords: adaptive control,passive systems

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00013

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 86-91

Authors: Alexey Bobtsov; Anton Pyrkin

Abstract: This work represents the development of robust control methods in the tasks of adaptation of SISO linear time-invariant plant with unknown parameters and disturbance. This problem is solved by ((2n + 1)ρ-1)-order regulator.

Keywords: adaptive control,robustness,high-order tuners,complex systems,model reference adaptive control,disturbance rejection

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00014

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 92-97

Authors: Kenichi Tamura; Hiromitsu Ohmori

Abstract: This paper is concerned with auto-tuning of the expanded PID control for MIMO linear system (r-input, m-output, nth-order). The purpose is to give an adaptive law of time-varying PID parameter matrices so as to asymptotically stabilize the closed-loop system using expanded PID control for the regulation problem. The proposed method is derived from satisfying the Lyapunov's stability theorem. For its execution it is necessary for a certain hypothetical system to satisfy almost strictly positive real (ASPR) property. So we also propose the method letting its hypothetical system be ASPR. In our method, since it is not necessary for the controlled MIMO system to be stable and/or minimum phase, it is useful for large class systems. The effectiveness of the proposed method is confirmed with unstable MIMO system by a numerical simulations.

Keywords: expanded PID control,auto-tuning,MIMO linear system,almost strictly positive real (ASPR)

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00015

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 98-103

Authors: Ilya V. Burkov

Abstract: The control is designed from the condition of decreasing Lyapunov function on the trajectories of the closed loop system. This control may be chosen a priori bounded. As example we consider the rotational system with nonlinear dissipative force and disturbances which periodically depends on the angle. We consider also the problem of evaluating unknown external periodic torque of this rotational system. The second example is adaptive stabilization of the uniform transition of the pendulum on a cart.

Keywords: nonlinear systems,parameter estimation,Lyapunov methods,stability,velocity control

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00016

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 104-108

Authors: Kirill Chernyshov

Abstract: The paper presents an approach to the statistical linearization of the input/output mapping of a non-linear discrete-time stochastic system driven by a white-noise Gaussian process. The approach is based on applying the maximal correlation function. At that, the statistical linearization criterion is the condition of coincidence of the mathematical expectations of the output processes of the system and model, and the condition of coincidence of the joint maximal correlation functions of the output and input processes of the system and the output and input processes of the model. Explicit expressions for the weight function coefficients of the linearized model are obtained; an approach to eliminate the influence of unobservable output additive disturbances under conditions when a priori information on the type of their probability distribution is available is proposed.

Keywords:

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00017

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 109-114

Authors: Tyagi Deepak; Georgy Shevlyakov; Kiseon Kim; Vladimir Shin

Abstract: The problem of recursive estimation for uncertain multisensor linear discrete-time systems is considered. A new suboptimal filtering algorithm is herein proposed. It is based on the fusion formula for an arbitrary number of local Kalman filters. Each local Kalman filter is fused by the minimum mean square error criterion. The suboptimal gains and weights do not depend on current observations; therefore the proposed filter can easily be implemented in real-time. The examples demonstrate the efficiency and high-accuracy of the proposed filter.

Keywords: linear system,multisensor,Kalman filter,uncertainty,fusion formula

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00018

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 115-120

Authors: Petr Dostal; Franti ek Gazdos; Vladimir Bobal; Jiri Vojtesek

Abstract: The paper deals with adaptive control of a continuous stirred tank reactor (CSTR). A nonlinear model of the process is approximated by a continuous-time external linear model. The parameters of the CT external linear model of the process are estimated using a corresponding delta model. The control system with two feedback controllers is considered. The controller design is based on the polynomial approach. The resulting proper controllers ensure stability of the control system as well as asymptotic tracking of step references and step load disturbance attenuation. The adaptive control is tested on the nonlinear model of the CSTR with a consecutive exothermic reaction.

Keywords: adaptive control,continuous-time model,delta model,parameter estimation,polynomial method

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00019

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 121-126

Authors: Kazuki Eguchi; Zenta Iwai; Ikuro Mizumoto; Toshirou Funasako; Makoto Kumon

Abstract: This paper describes a procedure for adaptive output feedback sliding mode control(SMC) based on Almost Strictly Positive Real(ASPR)-ness for a class of multi-input/multi-output linear time invariant systems. Stability of the control system is achieved by using the parallel feedforward compensator(PFC), which guarantees ASPR-ness of the plant. Effectiveness of the proposed method is confirmed through numerical simulations.

Keywords: sliding mode control,multi input multi output,strictly positive realness,output feedback,linear systems

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00020

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 127-132

Authors: Frantiek Gazdos; Petr Dostal

Abstract: The paper utilizes the Virtual Reference Feedback Tuning methodology for the iterative way of controller design and fine-tuning. It uses a series of experiments with no restriction on data generation to design an optimal controller of desired structure without the intermediate plant identification step. The approach is shown to be successful for the design and fine-tuning of a controller for a coupled drives system by means of adjusting a desired settling-time of a controlled variable.

Keywords: iterative methods,controller tuning,direct methods,virtual reference feedback tuning,coupled drives apparatus

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00021

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 133-138

Authors: Miroslav Karny; Josef Andrysek

Abstract: Recursive non-linear Bayesian estimation is addressed using equivalence approach as motivating framework. Its specific form - tailored to a model class covering non-normal ARX (auto-regression with exogenous variables) models, models with discrete outputs and continuous-valued regression vectors and their dynamic mixtures - is presented. The resulting algorithms provide efficient solutions of difficult and practically important estimation problems.

Keywords: non-linear estimation,recursive estimation,non-Gaussian,autoregressive models,complex models,probabilistic models

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00022

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 139-144

Authors: Naoki Mizuno; Takao Minamihama; Takatomo Asai

Abstract: A new method for designing a discrete-time adaptive control system for continuous-time system is presented. Using a new discrete-time model called the n-delay limiting-zero model, this method avoids the problem that the non-minimum phase zeros which arise in the case of rapid sampling of the continuous-time systems having the relative degree greater than one. In this paper, first, the motivation and principle of the n-delay limiting-zero model of the continuous-time system is discussed. Next, the procedure of constructing the adaptive control system based on the n-delay limiting-zero model is presented. Moreover, in order to illustrate the effectiveness of the proposed method, computer simulations and on-line experiments for DD servo system are carried out.

Keywords: adaptive control,discrete-time control,continuous time system,n-delay input model,limiting zero,non-minimum phase system,DD servo system

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00023

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 145-150

Authors: Petr Navratil; Vladimir Bobal

Abstract: This paper deals with a one possibility of improvement of a self-tuning controller reliability and performance. A simple estimation scheme is replaced by so-called a multiestimation scheme and the self-tuning controller is then synthesized from this scheme. A higher level switching structure between various estimation schemes is used to supervise the reparametrization of the self-tuning controller in real time. The basic usefulness of the proposed scheme is to improve the accuracy of estimated parameters of the controlled system and then better transient response is obtained.

Keywords: self-tuning control,recursive estimation,ARX models,ARMAX models,recursive identification algorithms,multiestimation scheme

Digital Object Identifier (DOI): 10.3182/20070829-3-RU-4911.00024

Conference: 9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2007

Location: Imperial Anichkov Palace, Russia

Start Date: Wed Aug 29 2007 - End Date: Fri Aug 31 2007

Page Numbers: 151-156