Improvement of a fixed point transformations and svd-based adaptive controller

J. Tar, I. Rudas, János F. Bitó, José A Tenreiro Machado, Krzysztof R. Kozłowski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper some refinement of a novel control approach is reported that fits to the "traditional line of thinking" according to which in the most practical cases neither very precise, nor even complete system model is needed for obtaining precise control for dynamical systems. The validity of this statement is briefly pointed out in the most popular approaches as the main idea of the "Robust Sliding Mode / Variable Structure Controllers", in the Adaptive Inverse Dynamics and in the Slotine-Li Adaptive Controllers based on Lyapunov's 2nd Method, and in a recently published problem tackling using the simple geometric interpretation of the Singular Value Decomposition (SVD). In the present approach the originally proposed convergent, iterative Cauchy sequences are nonlinearly moderated to adaptively control a coupled nonlinear system, the cart plus double pendulum serving as popular paradigm of dynamicall not very well conditioned systems. It is shown that the proposed moderation removes the small sharp fluctuation in the control torque that inherently belonged to the original solution without significantly degrading the control quality. This statement is substantiated by simulation results.

Original languageEnglish
Title of host publication9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008
Pages77-89
Number of pages13
Publication statusPublished - 2008
Event9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008 - Budapest, Hungary
Duration: Nov 6 2008Nov 8 2008

Other

Other9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008
CountryHungary
CityBudapest
Period11/6/0811/8/08

Fingerprint

Controllers
Lyapunov methods
Torque control
Singular value decomposition
Pendulums
Quality control
Nonlinear systems
Dynamical systems

Keywords

  • Iterative cauchy sequences
  • Nonlinear control
  • Singular value decomposition
  • Tangent hyperbolc fixed point transformations

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Cite this

Tar, J., Rudas, I., Bitó, J. F., Machado, J. A. T., & Kozłowski, K. R. (2008). Improvement of a fixed point transformations and svd-based adaptive controller. In 9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008 (pp. 77-89)

Improvement of a fixed point transformations and svd-based adaptive controller. / Tar, J.; Rudas, I.; Bitó, János F.; Machado, José A Tenreiro; Kozłowski, Krzysztof R.

9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008. 2008. p. 77-89.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J, Rudas, I, Bitó, JF, Machado, JAT & Kozłowski, KR 2008, Improvement of a fixed point transformations and svd-based adaptive controller. in 9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008. pp. 77-89, 9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008, Budapest, Hungary, 11/6/08.
Tar J, Rudas I, Bitó JF, Machado JAT, Kozłowski KR. Improvement of a fixed point transformations and svd-based adaptive controller. In 9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008. 2008. p. 77-89
Tar, J. ; Rudas, I. ; Bitó, János F. ; Machado, José A Tenreiro ; Kozłowski, Krzysztof R. / Improvement of a fixed point transformations and svd-based adaptive controller. 9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008. 2008. pp. 77-89
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