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An Adaptive Root-Solving Controller for Tracking of Nonlinear Dynamic Plants

Butt, Naveed LU ; Shafiq, Muhammad and Khan, Tahir (2005) 2005 International Conference on Industrial Electronics and Control Applications In ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005
Abstract
Adaptive tracking of nonlinear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law, while being capable of providing accurate approximation of nonlinear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable nonlinear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant and a simplistic control law based on polynomial root-solving is synthesized.... (More)
Adaptive tracking of nonlinear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law, while being capable of providing accurate approximation of nonlinear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable nonlinear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant and a simplistic control law based on polynomial root-solving is synthesized. The proposed scheme has a more general appeal than other adaptive schemes based on models such as the polynomial NARMAX (nonlinear autoregressive moving average with exogenous inputs) model. Additionally, the control law is much simpler in nature. The effectiveness of the proposed adaptive scheme is demonstrated through application to the real-time control of a single-link robotic arm manipulator and simulations for different nonlinear plants (Less)
Please use this url to cite or link to this publication:
author
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
adaptive control, control system synthesis, manipulators, nonlinear control systems, robust control, nonlinear dynamic plants, adaptive root-solving controller, adaptive tracking, nonlinear systems, robust internal model control, polynomial root-solving, nonlinear autoregressive moving average with exogenous inputs, single-link robotic arm manipulator
in
ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2005 International Conference on Industrial Electronics and Control Applications
external identifiers
  • scopus:33947148652
ISBN
0 7803 9419 4
DOI
10.1109/ICIECA.2005.1644364
language
English
LU publication?
no
id
a7d1a75f-a6dc-43c6-800a-b906a43ad82b (old id 1238195)
date added to LUP
2008-10-06 14:53:17
date last changed
2017-03-05 04:24:36
@inproceedings{a7d1a75f-a6dc-43c6-800a-b906a43ad82b,
  abstract     = {Adaptive tracking of nonlinear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law, while being capable of providing accurate approximation of nonlinear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable nonlinear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant and a simplistic control law based on polynomial root-solving is synthesized. The proposed scheme has a more general appeal than other adaptive schemes based on models such as the polynomial NARMAX (nonlinear autoregressive moving average with exogenous inputs) model. Additionally, the control law is much simpler in nature. The effectiveness of the proposed adaptive scheme is demonstrated through application to the real-time control of a single-link robotic arm manipulator and simulations for different nonlinear plants},
  author       = {Butt, Naveed and Shafiq, Muhammad and Khan, Tahir},
  booktitle    = {ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005},
  isbn         = {0 7803 9419 4},
  keyword      = {adaptive control,control system synthesis,manipulators,nonlinear control systems,robust control,nonlinear dynamic plants,adaptive root-solving controller,adaptive tracking,nonlinear systems,robust internal model control,polynomial root-solving,nonlinear autoregressive moving average with exogenous inputs,single-link robotic arm manipulator},
  language     = {eng},
  pages        = {6},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {An Adaptive Root-Solving Controller for Tracking of Nonlinear Dynamic Plants},
  url          = {http://dx.doi.org/10.1109/ICIECA.2005.1644364},
  year         = {2005},
}