Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators
文献类型：期刊论文
| 作者 | Zhang DH(张道辉)1; Zhang Bi(张弼)1; Zhao XG(赵新刚); Li, Xiao-Guang2; Jiang Y(姜勇) ; Liu AH(刘爱华); Tian Y(田勇); Hu MW(胡明伟); Sun P(孙鹏); Sun P(孙鹏)
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| 刊名 | IEEE Access
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| 出版日期 | 2018 |
| 卷号 | 6页码:35809-35823 |
| 关键词 | Adaptive control unmodeled dynamics stability robustness SMA actuator |
| ISSN号 | 21693536 |
| 产权排序 | 1 |
| 通讯作者 | Zhao XG(赵新刚) |
| 中文摘要 | In this paper, a new robust adaptive control method has been proposed for nonlinear systems with uncertainties. This method combines the advantages of self-tuning control and sliding mode control. A simple parameterization model is firstly derived based on a linear dynamic model and unmodeled dynamics. Based on a modified sliding surface, the design procedure is based on the indirect adaptive control concept. This controller consists of four parts: the system parameters estimation, the unmodeled dynamics estimation, the weighting polynomials updating and the control law calculation. The key merits of this controller are as follows: (i) the controller is applicable to non-minimum phase and open-loop unstable systems; (ii) the estimation of the unmodeled dynamics is introduced as a feedback compensation control to improve the response; (iii) the strict stability condition is eliminated and a desirable performance is ensured during a wide operation region. Moreover, the control problem of a shape memory alloy (SMA) actuator system is considered. In the literature, the mechanism model based controllers have been extensively reported to address this issue. As an alternative, we describe this plant as a gray-box model. The adaptation algorithm and the control law have been implemented through the Beckhoff controller. The experimental results have demonstrated that the proposed controller has wider applicability than some existing methods. |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000439022000049 |
| 源URL | [http://ir.sia.cn/handle/173321/22203]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 工艺装备与智能机器人研究室 |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China 2.Shenyang University of Technology, Shenyang, Liaoning, China |
| 推荐引用方式 GB/T 7714 | Zhang DH,Zhang Bi,Zhao XG,et al. Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators[J]. IEEE Access,2018,6:35809-35823. |
| APA | Zhang DH.,Zhang Bi.,Zhao XG.,Li, Xiao-Guang.,姜勇.,...&孔繁旭.(2018).Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators.IEEE Access,6,35809-35823. |
| MLA | Zhang DH,et al."Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators".IEEE Access 6(2018):35809-35823. |
入库方式： OAI收割
来源：沈阳自动化研究所
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