Situation-dependent adaptive control polynomially eliminating the past information of fading relevance

Teréz A. Várkonyi, J. Tar, János F. Bitó, I. Rudas

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

Abstract

In this paper an alternative of Lyapunov's complicated direct method, the Robust Fixed Point Transformation (RFPT) based adaptive controller is applied in decentralized manner for the control of two dynamically coupled, incompletely and imprecisely modeled mechanical systems. Each subsystem consists of a cart and a double pendulum provided with a local controller having no information on the existence and the physical state of its own second pendulum and on the existence of and dynamic connection to the other cart+pendulums system. Instead trying to develop a complete and generally useful system model the RFPT-based solution extracts information on the present and recent behavior of the controlled system only in the given control situation. Insisting only on the use of the present experiences makes the method noise-sensitive. To improve the situation by the use of recent experiences with properly fading obsolete information is a viable solution. For this purpose a parametric, discrete, polynomial weighting of the past information is successfully used. The applied weights evidently have some memory properties with controllable forgetting rate. It is shown by convincing simulations that via observing and controlling the state propagation only of the modeled axles the uncorrelated controllers can precisely track their prescribed trajectories in spite of the presence of considerable measurement noises.

Original languageEnglish
Title of host publicationLINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings
Pages199-204
Number of pages6
DOIs
Publication statusPublished - 2011
Event3rd IEEE International Symposium on Logistics and Industrial Informatics, LINDI 2011 - Budapest, Hungary
Duration: Aug 25 2011Aug 27 2011

Other

Other3rd IEEE International Symposium on Logistics and Industrial Informatics, LINDI 2011
CountryHungary
CityBudapest
Period8/25/118/27/11

Fingerprint

Pendulums
Controllers
Axles
Trajectories
Polynomials
Data storage equipment

ASJC Scopus subject areas

  • Information Systems
  • Industrial and Manufacturing Engineering

Cite this

Várkonyi, T. A., Tar, J., Bitó, J. F., & Rudas, I. (2011). Situation-dependent adaptive control polynomially eliminating the past information of fading relevance. In LINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings (pp. 199-204). [6031147] https://doi.org/10.1109/LINDI.2011.6031147

Situation-dependent adaptive control polynomially eliminating the past information of fading relevance. / Várkonyi, Teréz A.; Tar, J.; Bitó, János F.; Rudas, I.

LINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings. 2011. p. 199-204 6031147.

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

Várkonyi, TA, Tar, J, Bitó, JF & Rudas, I 2011, Situation-dependent adaptive control polynomially eliminating the past information of fading relevance. in LINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings., 6031147, pp. 199-204, 3rd IEEE International Symposium on Logistics and Industrial Informatics, LINDI 2011, Budapest, Hungary, 8/25/11. https://doi.org/10.1109/LINDI.2011.6031147
Várkonyi TA, Tar J, Bitó JF, Rudas I. Situation-dependent adaptive control polynomially eliminating the past information of fading relevance. In LINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings. 2011. p. 199-204. 6031147 https://doi.org/10.1109/LINDI.2011.6031147
Várkonyi, Teréz A. ; Tar, J. ; Bitó, János F. ; Rudas, I. / Situation-dependent adaptive control polynomially eliminating the past information of fading relevance. LINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings. 2011. pp. 199-204
@inproceedings{533bf40872334dc6884f9697d0083170,
title = "Situation-dependent adaptive control polynomially eliminating the past information of fading relevance",
abstract = "In this paper an alternative of Lyapunov's complicated direct method, the Robust Fixed Point Transformation (RFPT) based adaptive controller is applied in decentralized manner for the control of two dynamically coupled, incompletely and imprecisely modeled mechanical systems. Each subsystem consists of a cart and a double pendulum provided with a local controller having no information on the existence and the physical state of its own second pendulum and on the existence of and dynamic connection to the other cart+pendulums system. Instead trying to develop a complete and generally useful system model the RFPT-based solution extracts information on the present and recent behavior of the controlled system only in the given control situation. Insisting only on the use of the present experiences makes the method noise-sensitive. To improve the situation by the use of recent experiences with properly fading obsolete information is a viable solution. For this purpose a parametric, discrete, polynomial weighting of the past information is successfully used. The applied weights evidently have some memory properties with controllable forgetting rate. It is shown by convincing simulations that via observing and controlling the state propagation only of the modeled axles the uncorrelated controllers can precisely track their prescribed trajectories in spite of the presence of considerable measurement noises.",
author = "V{\'a}rkonyi, {Ter{\'e}z A.} and J. Tar and Bit{\'o}, {J{\'a}nos F.} and I. Rudas",
year = "2011",
doi = "10.1109/LINDI.2011.6031147",
language = "English",
isbn = "9781457718410",
pages = "199--204",
booktitle = "LINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings",

}

TY - GEN

T1 - Situation-dependent adaptive control polynomially eliminating the past information of fading relevance

AU - Várkonyi, Teréz A.

AU - Tar, J.

AU - Bitó, János F.

AU - Rudas, I.

PY - 2011

Y1 - 2011

N2 - In this paper an alternative of Lyapunov's complicated direct method, the Robust Fixed Point Transformation (RFPT) based adaptive controller is applied in decentralized manner for the control of two dynamically coupled, incompletely and imprecisely modeled mechanical systems. Each subsystem consists of a cart and a double pendulum provided with a local controller having no information on the existence and the physical state of its own second pendulum and on the existence of and dynamic connection to the other cart+pendulums system. Instead trying to develop a complete and generally useful system model the RFPT-based solution extracts information on the present and recent behavior of the controlled system only in the given control situation. Insisting only on the use of the present experiences makes the method noise-sensitive. To improve the situation by the use of recent experiences with properly fading obsolete information is a viable solution. For this purpose a parametric, discrete, polynomial weighting of the past information is successfully used. The applied weights evidently have some memory properties with controllable forgetting rate. It is shown by convincing simulations that via observing and controlling the state propagation only of the modeled axles the uncorrelated controllers can precisely track their prescribed trajectories in spite of the presence of considerable measurement noises.

AB - In this paper an alternative of Lyapunov's complicated direct method, the Robust Fixed Point Transformation (RFPT) based adaptive controller is applied in decentralized manner for the control of two dynamically coupled, incompletely and imprecisely modeled mechanical systems. Each subsystem consists of a cart and a double pendulum provided with a local controller having no information on the existence and the physical state of its own second pendulum and on the existence of and dynamic connection to the other cart+pendulums system. Instead trying to develop a complete and generally useful system model the RFPT-based solution extracts information on the present and recent behavior of the controlled system only in the given control situation. Insisting only on the use of the present experiences makes the method noise-sensitive. To improve the situation by the use of recent experiences with properly fading obsolete information is a viable solution. For this purpose a parametric, discrete, polynomial weighting of the past information is successfully used. The applied weights evidently have some memory properties with controllable forgetting rate. It is shown by convincing simulations that via observing and controlling the state propagation only of the modeled axles the uncorrelated controllers can precisely track their prescribed trajectories in spite of the presence of considerable measurement noises.

UR - http://www.scopus.com/inward/record.url?scp=80555133357&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80555133357&partnerID=8YFLogxK

U2 - 10.1109/LINDI.2011.6031147

DO - 10.1109/LINDI.2011.6031147

M3 - Conference contribution

AN - SCOPUS:80555133357

SN - 9781457718410

SP - 199

EP - 204

BT - LINDI 2011 - 3rd IEEE International Symposium on Logistics and Industrial Informatics, Proceedings

ER -