Robust Fixed Point Transformation based design for Model Reference Adaptive Control of a modified TORA system

József K. Tar, Teréz A. Várkonyi, Levente Kovács, Imre J. Rudas, Tamás Haidegger

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

4 Citations (Scopus)

Abstract

Benchmark problems continue to represent an actively studied domain, focusing on application-based situations, where controllers have to deal with typical real environments. In this paper, a Robust Fixed Point Transformations (RFPT)-based Model Reference Adaptive Controller (MRAC) is designed for a modified Translational Oscillations by a Rotational Actuator (TORA) system, which is an indirectly driven, underactuated classical mechanical system with peculiar properties. The RFPT-based design has the advantage of working only with three free parameters, and does not need complex a priori calculations. It is founded on the idea that at the cost of replacing the requirement for global stability with local stability, a mathematically very simple and geometrically lucid, well interpreted methodology can be developed. The resulting structure directly concentrates on the primary design intent, i.e., on the realization of a purely kinematically prescribed trajectory tracking. Examples and simulation results are presented in this paper, demonstrating that the RFPT-based design can provide an efficient MRAC controller for a very special physical system.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages123-128
Number of pages6
ISBN (Electronic)9781479969340
DOIs
Publication statusPublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Tar, J. K., Várkonyi, T. A., Kovács, L., Rudas, I. J., & Haidegger, T. (2014). Robust Fixed Point Transformation based design for Model Reference Adaptive Control of a modified TORA system. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 123-128). [6942550] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942550