Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators

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	Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators
	Zhang DH(张道辉)1; Zhang Bi(张弼)1; Zhao XG(赵新刚); Li, Xiao-Guang 2; Jiang Y(姜勇); Liu AH(刘爱华); Tian Y(田勇); Hu MW(胡明伟); Sun P(孙鹏); Sun P(孙鹏)
刊名	IEEE Access
	2018
卷号	6 页码:35809-35823
关键词	Adaptive control unmodeled dynamics stability robustness SMA actuator
ISSN号	21693536
通讯作者	Zhao XG(赵新刚)
产权排序	1
中文摘要	In this paper, a new robust adaptive control method has been proposed for nonlinear systems with uncertainties. This method combines the advantages of self-tuning control and sliding mode control. A simple parameterization model is firstly derived based on a linear dynamic model and unmodeled dynamics. Based on a modified sliding surface, the design procedure is based on the indirect adaptive control concept. This controller consists of four parts: the system parameters estimation, the unmodeled dynamics estimation, the weighting polynomials updating and the control law calculation. The key merits of this controller are as follows: (i) the controller is applicable to non-minimum phase and open-loop unstable systems; (ii) the estimation of the unmodeled dynamics is introduced as a feedback compensation control to improve the response; (iii) the strict stability condition is eliminated and a desirable performance is ensured during a wide operation region. Moreover, the control problem of a shape memory alloy (SMA) actuator system is considered. In the literature, the mechanism model based controllers have been extensively reported to address this issue. As an alternative, we describe this plant as a gray-box model. The adaptation algorithm and the control law have been implemented through the Beckhoff controller. The experimental results have demonstrated that the proposed controller has wider applicability than some existing methods.
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000439022000049
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/22203]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China 2.Shenyang University of Technology, Shenyang, Liaoning, China
推荐引用方式 GB/T 7714	Zhang DH,Zhang Bi,Zhao XG,et al. Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators[J]. IEEE Access,2018,6:35809-35823.
APA	Zhang DH.,Zhang Bi.,Zhao XG.,Li, Xiao-Guang.,姜勇.,...&宋屹峰.(2018).Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators.IEEE Access,6,35809-35823.
MLA	Zhang DH,et al."Robust Indirect Adaptive Control for A Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators".IEEE Access 6(2018):35809-35823.