DocumentCode :
3463043
Title :
Situation-dependent adaptive control polynomially eliminating the past information of fading relevance
Author :
Várkonyi, Teréz A. ; Tar, József K. ; Bitó, János F. ; Rudas, Imre J.
Author_Institution :
Doctoral Sch. of Appl. Inf., Obuda Univ., Budapest, Hungary
fYear :
2011
fDate :
25-27 Aug. 2011
Firstpage :
199
Lastpage :
204
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.
Keywords :
Lyapunov methods; adaptive control; decentralised control; nonlinear control systems; pendulums; robust control; Lyapunov complicated direct method; cart system; decentralized control; double pendulum; fading relevance; measurement noises; mechanical systems; noise-sensitive method; polynomial elimination; polynomial weighting; robust fixed point transformation; situation-dependent adaptive control; state propagation; uncorrelated controllers; Adaptation models; Adaptive control; Approximation methods; Fading; Force; Mathematical model; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Logistics and Industrial Informatics (LINDI), 2011 3rd IEEE International Symposium on
Conference_Location :
Budapest
Print_ISBN :
978-1-4577-1842-7
Type :
conf
DOI :
10.1109/LINDI.2011.6031147
Filename :
6031147
Link To Document :
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