Title | ||
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Robust Fixed Point Transformation based design for Model Reference Adaptive Control of a modified TORA system |
Abstract | ||
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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. |
Year | DOI | Venue |
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2014 | 10.1109/IROS.2014.6942550 | Intelligent Robots and Systems |
Keywords | DocType | ISSN |
control system synthesis,model reference adaptive control systems,stability,RFPT-based MRAC,RFPT-based design,global stability,kinematically prescribed trajectory tracking,local stability,model reference adaptive control,modified TORA system,modified translational oscillations by a rotational actuator system,robust fixed point transformation based design,underactuated classical mechanical system | Conference | 2153-0858 |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
5 |
Name | Order | Citations | PageRank |
---|---|---|---|
József K. Tar | 1 | 104 | 25.33 |
Teréz Anna Várkonyi | 2 | 1 | 1.53 |
Levente Kovács | 3 | 98 | 38.25 |
Imre J. Rudas | 4 | 388 | 63.89 |
Tamás Haidegger | 5 | 93 | 14.86 |