Informatica

An adaptive control scheme for mechanical manipulators is proposed. The control loop essentially consists of a network for learning the robot's inverse dynamics and on-line generating the control signal. Some simulation results are provided to evaluate the design. A supervisor is used to improve the performances of the system during the adaptation transients. The supervisor exerts two supervisory actions. The first one consists basically of updating the free-design adaptive controller parameters so that the value of a quadratic loss function is maintained sufficiently small. Such a function involves past tracking errors and their predictions both on appropriate time horizons of low performances during the adaptation transients. The supervisor exerts two supervisory actions. The second supervisory action consists basically of a on-line adjustment of the sampling period within an interval centered in a nominal value of the sampling period. The sampling period is selected so that the transient of the tracking error is improved according to the simple intuitive rule of using a sampling rate faster as the tracking error changes faster.

Adaptive Control Distributed Parameter Systems (ACDPS) with adaptive learning algorithms based on orthogonal neural network methodology are presented in this paper. We discuss a modification of orthogonal least squares learning to find appropriate efficient algorithms for solution of ACDPS problems. A two times problem linked with the real time of plant control dynamic processes and the learning time for adjustment of parameters in adaptive control of unknown distributed systems is discussed.

This paper presents a direct adaptive, control algorithm, based on a σ-modification rule, which is robust respect to additive and multiplicative plant unmodelled dynamics for plants involving both internal (i.e., in the state) and external (i.e., in the output or input) known point delays. Several adaptive controller structures are given and analyzed for the case of plants with unknown parameters while being assumed that the nominal plant is of known order and relative order. The parametrized parts of two of the controller structures involve delays while those of the two remaining controllers are delay-free. However, auxiliary compensating signals which weight the plant input and output integrals are incorporated in all the controller structures for stabilization purposes. It is proved that, if the unmodelled dynamics is sufficiently small at low frequencies, then the adaptive algorithm guarantees boundedness of all the signals in the closed-loop system.