NDLI: A synthesis of classical and adaptive control

Content Provider	IEEE Xplore Digital Library
Author	Brown, L.J. Meyn, S.P.
Copyright Year	1994
Description	Author affiliation: Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA (Brown, L.J.; Meyn, S.P.)
Abstract	In this paper we describe a new adaptive control algorithm which is specifically designed for for systems which are difficult to control. The models that we consider may exhibit nontrivial time variations; have significant delays; have nonminimum phase characteristics; and may be subject to measurement noise and plant disturbances. Our goal is to obtain robust control laws, and to simultaneously obtain good transient response and small steady state error. A two step procedure is taken. First, we design a linear controller which is based on some a priori knowledge of the plant. This controller incorporates predictions of future outputs which are obtained from online parameter estimates. It is argued that this makes the design of a robust controller easier than when predictions are not used. Secondly, the control law feeds back filtered estimates of the disturbance process, which are also obtained from the parameter estimator online. An optimal design technique is used to design an appropriate filter, thereby tuning the disturbance response of the closed loop system. A robotic welder at the Construction Engineering Research Laboratory in Champaign, Illinois is currently being used as a test bed for these theoretical results. Observations are described and future work is discussed.<>
Starting Page	929
Ending Page	934
File Size	667683
Page Count	6
File Format	PDF
ISBN	0780318722
DOI	10.1109/CCA.1993.348212
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-09-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Robust control Parameter estimation Control system synthesis Algorithm design and analysis Control systems Delay effects Noise measurement Phase measurement Time measurement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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