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Aerospace Design Group

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Author: Yang, Bong-Jun × End date: 2004 × Start date: 2003 × Has files: Yes × Type: Text ×

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Coordinated Decentralized Adaptive Output Feedback Control of Interconnected Systems

2004-06 , Hovakimyan, Naira , Lavretsky, Eugene , Yang, Bong-Jun , Calise, Anthony J.

A decentralized adaptive output feedback control design is proposed for large-scale interconnected systems. It is assumed that all the controllers share prior information about the system reference models. A linearly parameterized neural network is introduced for each subsystem to partially cancel the effect of the interconnections on tracking performance. Boundedness of error signals is shown through Lyapunov's direct method.

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Adaptive output feedback control with input saturation

2003-06 , Yang, Bong-Jun , Calise, Anthony J. , Craig, James I.

We consider the problem of adaptive output feedback control in the presence of saturating input characteristic. The adaptive control architecture augments an existing linear control design. The approach is applicable to non-affine, nonlinear systems with both parametric uncertainty and unmodeled dynamics subject to input saturation. Boundedness of signals is shown through Lyapunov's direct method. Experimental results with a 3-disk torsional pendulum are presented to demonstrate the approach.

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Augmenting Adaptive Approach to Control of Flexible Systems

2004 , Calise, Anthony J. , Yang, Bong-Jun , Craig, James I.

This paper describes an approach for augmenting a linear controller design with a neural-network-based adaptive element. The basic approach involves formulating an architecture for which the associated error equations have a form suitable for applying existing results for adaptive output feedback control of nonlinear systems. The approach is applicable to non-affine, nonlinear systems with both parametric uncertainties and unmodelled dynamics. The effect of actuator limits are treated using control hedging. The approach is particularly well suited for control of flexible systems subject to limits in control authority. Its effectiveness is tested on a laboratory experiment consisting of a three-disk torsional pendulum system, including control voltage saturation and stiction.

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Experimental Validation of an Augmenting Approach to Adaptive Control of Uncertain Nonlinear Systems

2003-08 , Yang, Bong-Jun , Hovakimyan, Naira , Calise, Anthony J. , Craig, James I.

A method of adaptive output feedback design for uncertain nonlinear systems is presented. The development is in a form that is suitable for augmenting a linear controller. The approach is applicable to non-affine, non-minimum phase systems having parametric and dynamic uncertainties. A requirement is that the non-minimum phase zeros are represented to a sufficient accuracy in the linear controller design. The approach has been experimentally validated using a 3-disk torsional pendulum and an inverted pendulum.

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