:: ICCAS 2015 ::

WA03		Adaptive Robust Control
Time : 09:10~10:40 Room : 103		Chair : Mikhail Medvedev (Southern Federal University, )



09:10~09:25	WA03-1

Robustness based Comparison between a Sliding Mode Controller and a Model Free Controller with the approach of synchronization of nonlinear systems
Philippe Faradja(Tshwane University of Technology, South Africa), Guoyuan Qi(University of South Africa, South Africa)

This paper investigates the robustness with plant parameter variation of a sliding mode controller (SMC) that was recently proposed. Nonlinear chaotic systems are used as they are sensitive to parameter change and initial conditions. Synchronization of chaotic systems is used as it solves the tracking problem in a dynamic environment. The convergence time as a measure of robustness is also observed. Overall it is shown illustratively that the controller performs well but not as good as model free controller (MFC). Improvements can be made on the controller.Simulations are conducted in Matlab.



09:25~09:40	WA03-2

onlinear Adaptive Control of a 3D Overhead Crane
Quoc Chi Nguyen, Ha-Quang-Thinh Ngo(Ho Chi Minh City University of Technology, Viet Nam), Won-Ho Kim(Dong-Eui University , Korea, Republic of )

A nonlinear adaptive control of a 3D overhead crane is investigated. A nonlinear dynamic model of the overhead crane is developed. A nonlinear control model-based scheme is designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The asymptotic stability of the crane system is investigated by using the Lyapunov method.



09:40~09:55	WA03-3

Robust Swing Up and Balancing Control of the Acrobot Based on a Disturbance Observer
Dongkyoung Chwa, Sanghyob Lee, Myunghwan Eom(Ajou University, Korea, Republic of )

This paper proposes robust swing up and balancing control scheme of the acrobot system based on a disturbance observer. The partial feedback linearization and LQR control method are fast and effective way to control the nominal acrobot system. However, these control method does not guarantee the robustness. Therefore, disturbance observer for the sinusoidal disturbance is applied to develop the compensation scheme which minimizes the effect of the disturbance. The proposed control strategy was verified through the simulation results.



09:55~10:10	WA03-4

Basic Algorithms of Adaptive Position-path Control Systems for Mobile Units
Vyacheslav Pshikhopov, Mikhail Medvedev, Boris Gurenko, Maksim Beresnev(Southern Federal University, Russian Federation)

Today, mobile objects are finding increasing usage in a wide variety of applications. Robots have been put to use in the air, on the ground and under the sea. Along with this expansion in robot technology, the problem of control and autonomous decision making is an ongoing concern, especially in light of the increasing difficulty of tasks. This study is focused on the algorithms of adaptive control system for mobile objects. The authors examined the application of direct adaptive control with reference to model approaches, in particular the position-path method. Point positioning is discussed,



10:10~10:25	WA03-5

Adaptive synchronization of two different chaotic systems containing mutually Lipschitz nonlinearities subject to state time-delays

Muhammad Riaz(Muhammad Ali Jinnah University, Islamabad, Pakistan), Muhammad Ashraf(Muhammad Ali Jinnah university, Islamabad, Pakistan), Keum-Shik Hong(Pusan National University; 2 Busandaehak-ro, Geumjeong-gu, Busan 609-735, Korea, Republic of ), Muhammad Rehan(Pakistan Institut of Engineering and Applied Sciences, Islamabad, Pakistan), Gyoung-Hahn Kim(Pusan National University, Korea, Republic of )

This article addresses the synchronization problem for two different chaotic systems with state time-delays, disturbances, and mutually Lipschitz nonlinearities. A novel adaptive control scheme for the synchronization of such systems is established that guarantees the convergence of the error trajectory and ensures the stability of the synchronization error system. In the end, established adaptive control law is verified by a numerical example of two different, popular in electronics, chaotic Chua’s circuit and Rossler system.



10:25~10:40	WA03-6

Active Fault Tolerant Control of an Unmanned Surface Vehicle
Zhixiang Liu(Concordia University, Canada), Youmin Zhang(Xi'an University of Technology, China), Chi Yuan(Concordia University, Canada)

The fault tolerant control of an unmanned surface vehicle (USV) has been studied in the absence/presence of actuator faults. An active fault tolerant control methodology combining with a fault estimation and compensating mechanisms is proposed to guarantee the safety of USV. The stability analysis of the proposed scheme has been proven and numerical simulation on a nonlinear USV model have also been carried out in order to verify the effectiveness of the proposed approach.