Volume 13, Issue 4 (2014)
MJEE 2014, 13(4): 85-92 |
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Kazemi M H. Multivariable Adaptive Output-Feedback Regulation Using Adaptive Observer. MJEE 2014; 13 (4) :85-92
URL: http://mjee.modares.ac.ir/article-17-9165-en.html
URL: http://mjee.modares.ac.ir/article-17-9165-en.html
Shahe University, Iran. Electrical Engineering Department
Abstract: (3032 Views)
In this paper, an innovative adaptive output feedback control scheme is proposed for general multi-input multi-output (MIMO) plants with unknown parameters in a regulation task; such that the outputs of the plant converge to zero as well as the control gains remain uniformly bounded. First an adaptive observer is designed to estimate the state variables and system parameters by using the inputs and outputs of the plant. Then a linear combination of the estimated states by adaptive control gains is used to design a robust adaptive controller. Some theorems are given to show the convergence of the modeling errors and the control gains. The proposed controller is used to control a two degree of freedom robot manipulator such that the robot moves from any initial configuration to zero position. Simulation results exhibit the effectiveness of the proposed scheme to control the robot manipulator with different initial conditions and parameter perturbations.
Keywords: Adaptive observer, robust adaptive control, multivariable control, robot manipulator control
Received: 2016/08/23 | Accepted: 2014/01/21 | Published: 2016/08/23
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