Abstract
Adaptive tracking of nonlinear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law, while being capable of providing accurate approximation of nonlinear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable nonlinear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant and a simplistic control law based on polynomial root-solving is synthesized. The proposed scheme has a more general appeal than other adaptive schemes based on models such as the polynomial NARMAX (Nonlinear Autoregressive Moving Average with Exogenous inputs) model. Additionally, the control law is much simpler in nature. The effectiveness of the proposed adaptive scheme is demonstrated through application to the real-time control of a single-link robotic arm manipulator and simulations for different nonlinear plants.
| Original language | English |
|---|---|
| Title of host publication | ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005 |
| Publisher | IEEE Computer Society |
| Volume | 2005 |
| ISBN (Print) | 0780394194, 9780780394193 |
| DOIs | |
| Publication status | Published - 2005 |
| Event | ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005 - Quito, Ecuador Duration: Nov 29 2005 → Dec 2 2005 |
Other
| Other | ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005 |
|---|---|
| Country | Ecuador |
| City | Quito |
| Period | 11/29/05 → 12/2/05 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
An adaptive root-solving controller for tracking of nonlinear dynamic plants. / Butt, Naveed R.; Shafiq, Muhammad; Khan, Tahir.
ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005. Vol. 2005 IEEE Computer Society, 2005. 1644364.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An adaptive root-solving controller for tracking of nonlinear dynamic plants
AU - Butt, Naveed R.
AU - Shafiq, Muhammad
AU - Khan, Tahir
PY - 2005
Y1 - 2005
N2 - Adaptive tracking of nonlinear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law, while being capable of providing accurate approximation of nonlinear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable nonlinear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant and a simplistic control law based on polynomial root-solving is synthesized. The proposed scheme has a more general appeal than other adaptive schemes based on models such as the polynomial NARMAX (Nonlinear Autoregressive Moving Average with Exogenous inputs) model. Additionally, the control law is much simpler in nature. The effectiveness of the proposed adaptive scheme is demonstrated through application to the real-time control of a single-link robotic arm manipulator and simulations for different nonlinear plants.
AB - Adaptive tracking of nonlinear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law, while being capable of providing accurate approximation of nonlinear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable nonlinear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant and a simplistic control law based on polynomial root-solving is synthesized. The proposed scheme has a more general appeal than other adaptive schemes based on models such as the polynomial NARMAX (Nonlinear Autoregressive Moving Average with Exogenous inputs) model. Additionally, the control law is much simpler in nature. The effectiveness of the proposed adaptive scheme is demonstrated through application to the real-time control of a single-link robotic arm manipulator and simulations for different nonlinear plants.
UR - http://www.scopus.com/inward/record.url?scp=33947148652&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33947148652&partnerID=8YFLogxK
U2 - 10.1109/ICIECA.2005.1644364
DO - 10.1109/ICIECA.2005.1644364
M3 - Conference contribution
AN - SCOPUS:33947148652
SN - 0780394194
SN - 9780780394193
VL - 2005
BT - ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005
PB - IEEE Computer Society
ER -