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- Publisher Website: 10.1109/TCST.2018.2858203
- Scopus: eid_2-s2.0-85051660840
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Article: Trajectory Regulating Model Reference Adaptive Controller for Robotic Systems
Title | Trajectory Regulating Model Reference Adaptive Controller for Robotic Systems |
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Authors | |
Keywords | Unmanned aerial vehicles Actuators Robustness Neural networks Artificial neural networks |
Issue Date | 2019 |
Publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=87 |
Citation | IEEE Transactions on Control Systems Technology, 2019, v. 27 n. 6, p. 2749-2756 How to Cite? |
Abstract | The new trajectory regulating model reference adaptive controller (TRMRAC) has been proposed in this brief. The intermediate reference model in the TRMRAC is self-regulated to enhance the stability and robustness of adaptation, with the trajectories of the controlled system proven to be ultimately uniformly bounded. The developed controller is implemented and simulated in a multivariable robotic arm system with its system dynamics approximated by a neural network, showing superior stability characteristics even under unmodeled actuator dynamics and input saturation. To demonstrate its practicality, a nested version of the controller was tested on a quadcopter for quaternion attitude tracking, showing enhanced robustness over the conventional model reference adaptive control strategy. |
Persistent Identifier | http://hdl.handle.net/10722/289436 |
ISSN | 2023 Impact Factor: 4.9 2023 SCImago Journal Rankings: 2.193 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | MA, C | - |
dc.contributor.author | Lam, J | - |
dc.contributor.author | Lewis, FL | - |
dc.date.accessioned | 2020-10-22T08:12:38Z | - |
dc.date.available | 2020-10-22T08:12:38Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | IEEE Transactions on Control Systems Technology, 2019, v. 27 n. 6, p. 2749-2756 | - |
dc.identifier.issn | 1063-6536 | - |
dc.identifier.uri | http://hdl.handle.net/10722/289436 | - |
dc.description.abstract | The new trajectory regulating model reference adaptive controller (TRMRAC) has been proposed in this brief. The intermediate reference model in the TRMRAC is self-regulated to enhance the stability and robustness of adaptation, with the trajectories of the controlled system proven to be ultimately uniformly bounded. The developed controller is implemented and simulated in a multivariable robotic arm system with its system dynamics approximated by a neural network, showing superior stability characteristics even under unmodeled actuator dynamics and input saturation. To demonstrate its practicality, a nested version of the controller was tested on a quadcopter for quaternion attitude tracking, showing enhanced robustness over the conventional model reference adaptive control strategy. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=87 | - |
dc.relation.ispartof | IEEE Transactions on Control Systems Technology | - |
dc.rights | IEEE Transactions on Control Systems Technology. Copyright © IEEE. | - |
dc.rights | ©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | Unmanned aerial vehicles | - |
dc.subject | Actuators | - |
dc.subject | Robustness | - |
dc.subject | Neural networks | - |
dc.subject | Artificial neural networks | - |
dc.title | Trajectory Regulating Model Reference Adaptive Controller for Robotic Systems | - |
dc.type | Article | - |
dc.identifier.email | Lam, J: jlam@hku.hk | - |
dc.identifier.authority | Lam, J=rp00133 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/TCST.2018.2858203 | - |
dc.identifier.scopus | eid_2-s2.0-85051660840 | - |
dc.identifier.hkuros | 315978 | - |
dc.identifier.volume | 27 | - |
dc.identifier.issue | 6 | - |
dc.identifier.spage | 2749 | - |
dc.identifier.epage | 2756 | - |
dc.identifier.isi | WOS:000492299000043 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 1063-6536 | - |