US 2004/0176860 A1Published application

Adaptive output feedback apparatuses and methods capable of controlling a non-minimum phase system

AssigneeGuided Systems Technologies, Inc.

InventorsNaira Hovakimyan, C. Anthony Calise, Bong-Jun Yang

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Abstract

The invention comprises apparatuses and methods for providing the capability to stabilize and control a non-minimum phase, nonlinear plant with unmodeled dynamics and/or parametric uncertainty through the use of adaptive output feedback. A disclosed apparatus can comprise a reference model unit for generating a reference model output signal ym. The apparatus can comprise a combining unit that combines and differences a plant output signal y of a non-minimum phase plant for which not all of the states can be sensed, and a plant output signal y, to generate an output error signal {tilde over (y)}. The apparatus can further comprise an adaptive control unit for generating an adaptive control signal uad used to control the plant.

Claims71

Dependent claims

An apparatus receiving a commanded output signal yc to control a plant, the apparatus having a nominal controller implementing a plant model to control a plant to generate plant output signal y that is a function of all states of the plant, at least one of the plant states being unavailable, the nominal controller generating a nominal controller signal uec(y), the apparatus characterized by:

a reference model unit generating a plant model output signal ym based on the commanded output signal yc, using a reference controller identical to the nominal controller, and a plant model identical to that upon which the nominal controller was based;
a first combining unit coupled to receive and difference the plant output signal y and the plant model output signal ym to generate the plant output error signal {tilde over (y)};
an adaptive control unit coupled to receive the plant output error signal {tilde over (y)}, and comprising an error observer to generate an observed error signal Ê that estimates errors in all states of the plant, including those plate states that are unavailable, the adaptive control unit further comprising a neural network having connection weights M, N updated based on the observed error signal Ê, the neural network receiving a plant control signal u and the plant output signal y as inputs, and generating a neural network control signal uNN based on the plant control signal u, the plant output signal y, and the connection weights M, N, the adaptive control unit outputting an adaptive control signal uad based on the neural network control signal uNN;
and
a second combining unit coupled to receive the nominal controller signal uec(y) and the adaptive control signal uad, and generating the plant control signal u to control the plant based on the nominal controller signal uec(y) and the adaptive control signal uad.

2 more elements

An apparatus receiving a commanded output signal yc to control a plant, the apparatus for augmenting a nominal controller, the nominal controller generating a nominal controller signal uec(y) and a controller state signal xc based on the commanded output signal yc and the plant output signal y, the apparatus characterized by:

a reference model unit generating a reference model output signal ym and reference controller state signal xc based on the commanded output signal yc and a reference controller that is a replication of the nominal controller and a plant model upon which the nominal controller is based;
and
an adaptive control unit coupled to the nominal controller and the reference model unit, and generating an adaptive control signal uad based on the output error signal {tilde over (y)}, the controller state signal xc, and the reference controller state signal xcm,
the plant controlled based on the nominal controller signal uec(y) generated by the nominal controller and the adaptive control signal uad generated by the adaptive control unit.

1 more element

An apparatus receiving a commanded output signal yc to control an plant, the apparatus characterized by:

a first combining unit coupled to receive and difference the commanded output signal yc and a plant output signal y to generate a commanded output error signal yc−y;
an nominal controller coupled to receive a commanded output error signal yc−y, the nominal controller generating the nominal controller output signal uec(y) and a controller state signal xc based on the commanded output error signal yc−y;
a reference model unit coupled to receive a commanded output signal yc, and having a reference controller and a plant model, the reference model unit generating a reference controller signal uec(ym) and a reference controller state signal xcm based on the commanded output signal yc and a reference model output signal ym of the plant model, the reference controller coupled to provide the reference controller signal uec(ym) to the plant model, the plant model generating the reference model output signal ym based on the reference controller signal uec(ym);
a second combining unit coupled to receive and difference the reference controller signal uec(y) and an adaptive control signal uad to generate an plant control signal u, the second combining unit coupled to provide the plant control signal u to the plant, the plant generating the plant output signal y based on the plant control signal u;
a third combining unit coupled to receive and difference the plant output signal y and the plant model output signal ym to generate an output error signal {tilde over (y)};
an adaptive control unit coupled to receive the output error signal {tilde over (y)}, the controller state signal xc, and the reference controller state signal xcm, and generating the adaptive control signal uad based on the output error signal {tilde over (y)}, the controller state signal xc, and the reference controller state signal xcm.

3 more elements

An apparatus comprising:

an auxiliary controller coupled to receive an output error signal {tilde over (y)} generated based on a combination of a plant output signal y and a reference model output signal ym, and a combination of the nominal controller state signal xc and the nominal controller state signal xcm, and generating an auxiliary controller signal udc.

A method characterized by the steps of:

receiving a commanded output signal yc;
receiving an plant output signal y;
generating a nominal controller signal uec(y) and a controller state signal xc based on the commanded output signal yc and the plant output signal y;
generating a reference controller signal uec(ym) and a reference controller state signal xcm based on the commanded output signal yc and the plant model output signal ym;
generating the reference model output signal ym based on the reference controller signal uec(ym) and a plant model;
generating an output error signal {tilde over (y)} based on the plant output signal y and the reference model output signal ym;
generating an adaptive control signal uad based on the output error signal {tilde over (y)}, a plant control signal u, the nominal controller state signal xc, and the reference controller state signal xcm;
generating an plant control signal u based on the nominal controller signal uec(y) and the adaptive control signal uad;
and
controlling the plant based on the plant control signal u.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/732,208Filed 9 Dec 2003
Priority: 9 Dec 2002
Published: 9 Sep 2004
Term ends: Not estimatedThe source records don’t support an estimate.

Classification4 codes

G05B 13/048
Involving the use of models or simulators: using a predictor
G05B 13/027
The criterion being a learning criterion: using neural networks only
G05B 13/042
Involving the use of models or simulators: in which a parameter or coefficient is automatically adjusted to optimise the performance
G05B
Control or regulating systems in general