Improvement of the stability of RFPT-based adaptive controllers by observing "precursor oscillations"

Krisztián Kosi, J. Tar, I. Rudas

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

20 Citations (Scopus)

Abstract

In the design of adaptive controllers the "Robust Fixed Point Transformations (RFPT)"-based approach is a recently developed, very simple alternative of "Lyapunov's 2nd Method". The main difference between them is that while the traditional approach concentrates on guaranteeing global stability at the cost of directly not considering the primary design intent (i.e. the dynamic details of the tracking error relaxation) the novel one tries to precisely realize a prescribed error relaxation but in general cannot guarantee global stability. The iterative learning sequence it generates by a well defined mapping of little number of independent control parameters may not converge to the solution of the control task if this mapping loses its contractivity. In the present paper a simple parameter setting strategy is proposed that - by the use of a model-independent observer developed for monitoring little "precursor oscillations" - is able to so tune a single parameter of the controller that the iterative sequence always converges to the proper value. The method is designed for Single Input - Single Output (SISO) systems and also is generalized for Multiple Input - Multiple Output (MIMO) ones. The operation of the method is illustrated by a Model Reference Adaptive Controller (MRAC) controlling an indirectly driven and underactuated system.

Original languageEnglish
Title of host publicationICCC 2013 - IEEE 9th International Conference on Computational Cybernetics, Proceedings
Pages267-272
Number of pages6
DOIs
Publication statusPublished - 2013
EventIEEE 9th International Conference on Computational Cybernetics, ICCC 2013 - Tihany, Hungary
Duration: Jul 8 2013Jul 10 2013

Other

OtherIEEE 9th International Conference on Computational Cybernetics, ICCC 2013
CountryHungary
CityTihany
Period7/8/137/10/13

Fingerprint

Controllers
Lyapunov methods
Monitoring

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Networks and Communications

Cite this

Kosi, K., Tar, J., & Rudas, I. (2013). Improvement of the stability of RFPT-based adaptive controllers by observing "precursor oscillations". In ICCC 2013 - IEEE 9th International Conference on Computational Cybernetics, Proceedings (pp. 267-272). [6617601] https://doi.org/10.1109/ICCCyb.2013.6617601

Improvement of the stability of RFPT-based adaptive controllers by observing "precursor oscillations". / Kosi, Krisztián; Tar, J.; Rudas, I.

ICCC 2013 - IEEE 9th International Conference on Computational Cybernetics, Proceedings. 2013. p. 267-272 6617601.

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

Kosi, K, Tar, J & Rudas, I 2013, Improvement of the stability of RFPT-based adaptive controllers by observing "precursor oscillations". in ICCC 2013 - IEEE 9th International Conference on Computational Cybernetics, Proceedings., 6617601, pp. 267-272, IEEE 9th International Conference on Computational Cybernetics, ICCC 2013, Tihany, Hungary, 7/8/13. https://doi.org/10.1109/ICCCyb.2013.6617601
Kosi K, Tar J, Rudas I. Improvement of the stability of RFPT-based adaptive controllers by observing "precursor oscillations". In ICCC 2013 - IEEE 9th International Conference on Computational Cybernetics, Proceedings. 2013. p. 267-272. 6617601 https://doi.org/10.1109/ICCCyb.2013.6617601
Kosi, Krisztián ; Tar, J. ; Rudas, I. / Improvement of the stability of RFPT-based adaptive controllers by observing "precursor oscillations". ICCC 2013 - IEEE 9th International Conference on Computational Cybernetics, Proceedings. 2013. pp. 267-272
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