Adaptive output feedback apparatuses and methods capable of controlling a non-minimum phase system
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-013/02
G05B-001/01
G06F-007/00
출원번호
UP-0845627
(2007-08-27)
등록번호
US-7853338
(2011-02-10)
발명자
/ 주소
Hovakimyan, Naira
Calise, Anthony J
Yang, Bong-Jun
출원인 / 주소
Georgia Tech Research Corporation
대리인 / 주소
Patents and Licensing LLC
인용정보
피인용 횟수 :
3인용 특허 :
24
초록▼
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
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.
대표청구항▼
The invention claimed is: 1. An apparatus receiving a command signal yc to control a plant, the plant generating a plant output signal y that is a function of states of the plant, the apparatus comprising: a nominal controller for generating a nominal control signal uec to control the plant based u
The invention claimed is: 1. An apparatus receiving a command signal yc to control a plant, the plant generating a plant output signal y that is a function of states of the plant, the apparatus comprising: a nominal controller for generating a nominal control signal uec to control the plant based upon a plant model of the plant in response to a difference between at least the command signal yc and the plant output signal y; a reference controller for generating a reference control signal uec(ym) based upon a same plant model as the nominal controller in response to a difference between at least the command signal yc and a reference model output signal ym; a plant model comprising an approximation of the plant and operatively coupled to receive the reference control signal uec(ym) from the reference controller and produce the reference model output signal ym; a first combining unit operatively coupled to the plant and the plant model to find a difference between at least the plant output signal y and the reference model output signal ym to generate the plant output error signal {tilde over (y)}; an adaptive control unit operatively coupled to the first combining unit to receive the plant output error signal {tilde over (y)} and generate an adaptive control signal uad based on the plant output error signal {tilde over (y)}; and a second combining unit operatively coupled to the adaptive control unit, the nominal controller and the plant to augment the nominal control signal uec based on the adaptive control signal uad. 2. An apparatus as claimed in claim 1, wherein a plant control signal u comprises the augmented nominal control signal uec; wherein the adaptive control unit comprises a neural network having connection weights updated based on the plant output error signal {tilde over (y)}, the neural network receiving the plant control signal u and the plant output signal y as inputs, and generating a neural network control signal uNN based directly or indirectly on the plant control signal u, the plant output signal y, and the connection weights; and wherein the adaptive control unit outputs the adaptive control signal uad based on the neural network control signal uNN. 3. An apparatus as claimed in claim 1, wherein the adaptive control unit comprises: an error observer to generate an observed error signal Ê that estimates errors in states of the plant, including those plate states that are unavailable; and 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; and wherein the adaptive control unit outputs the adaptive control signal uad based on the neural network control signal uNN. 4. An apparatus as claimed in claim 3, wherein the adaptive control unit comprises a time delay unit coupled to receive and delay the augmented nominal control signal uec and the plant output signal y to generate a delayed plant ūd and a delayed signal yd, respectively, the time delay unit coupled to provide a delayed plant control signal ūd and the delayed plant output signal yd as inputs to the neural network for generation of the neural network control signal uNN. 5. An apparatus as claimed in claim 1, wherein the adaptive control unit comprises a time delay unit coupled to receive and delay the augmented nominal control signal uec and the plant output signal y to generate a delayed signal ūd and a delayed signal yd, respectively, the time delay unit coupled to provide a delayed plant control signal ūd and the delayed plant output signal yd to a nonlinear approximation unit for generation of the adaptive control signal uad. 6. An apparatus as claimed in claim 3, wherein the nominal controller generates a nominal controller state signal xc, and the reference controller generates a reference controller state signal xcm, and the adaptive control unit comprises a combining unit coupled to receive and difference the nominal controller state signal xc and the reference controller state signal xcm, to generate a controller state error signal xcm−xc for use by the error observer in generating the observed error signal Ê. 7. An apparatus as claimed in claim 6, wherein the adaptive control unit comprises an auxiliary controller coupled to receive the plant output signal y and the controller state error signal xcm−xc, and generating an auxiliary controller signal udc based on the plant output signal y and the controller state error signal xcm−xc, the auxiliary controller further coupled to provide the auxiliary controller signal udc to the error observer for use in generating the observed error signal Ê. Page 5 8. An apparatus as claimed in claim 7, wherein the auxiliary controller is a linear controller. 9. An apparatus as claimed in claim 1, wherein the plant comprises an aerospace vehicle. 10. An apparatus as claimed in claim 1, wherein the apparatus is used to control a non-minimum phase system. 11. An apparatus as claimed in claim 1, further comprising: at least one actuator coupled to receive the augmented nominal control signal uec and coupled to the plant, and controlling the plant based on the augmented nominal control signal uec. 12. An apparatus as claimed in claim 11, wherein the actuator comprises a plurality of aerospace vehicle actuators. 13. An apparatus as claimed in claim 1, further comprising: at least one sensor coupled to the plant and generating the plant output signal y based on a sensed output of the plant. 14. An apparatus as claimed in claim 1, wherein the plant comprises an aerospace vehicle and the sensed output comprises at least one output of a sensor of the aerospace vehicle. 15. A method comprising the steps of: receiving a command signal yc; receiving an plant output signal y; generating a nominal control signal uec based upon a plant model of the plant in response to a difference between at least the command signal yc and the plant output signal y; generating a reference control signal uec(ym) based upon a same said plant model in response to a difference between at least the command signal yc and a reference model output signal ym; generating the reference model output signal ym using an approximation of the plant based on the reference control signal uec(ym); generating a plant output error signal {tilde over (y)} based on a difference between at least the plant output signal y and the reference model output signal ym; generating an adaptive control signal uad based on the plant output error signal {tilde over (y)}; generating a plant control signal u based on the nominal control signal uec and the adaptive control signal uad; and controlling the plant based on the plant control signal u. 16. A method as claimed in claim 15, wherein a controller state signal xc is generated based upon the plant model of the plant in response to a difference between at least the command signal yc and the plant output signal y; wherein a a reference controller state signal xcm is generated based upon the same said plant model in response to a difference between at least the command signal yc and a reference model output signal ym; and wherein the adaptive control signal uad is generated based on the output error signal {tilde over (y)}, the plant control signal u, the nominal controller state signal xc, and the reference controller state signal xcm. 17. A method as claimed in claim 16, wherein the nominal control signal uec and the controller state signal xc are generated by a nominal controller. 18. A method as claimed in claim 15, wherein the method is used to control a non-minimum phase system. 19. A method as claimed in claim 16, further comprising the steps of: generating a controller state error signal xcm−xc based on the controller state signal xc and the reference controller state signal xcm; generating an observed error signal Ê based the output error signal {tilde over (y)} and the controller state error signal xcm−xc; delaying the plant control signal u to generate a delayed plant control signal ud; delaying the plant output signal y to generate a delayed plant output signal yd; and generating an adaptive control signal uad based on the observed error signal Ê, the current plant control signal u, the delayed plant control signal ud, the current plan output signal y, and the delayed plant output signal yd. 20. A method as claimed in claim 19, further comprising the steps of: generating an auxiliary controller signal udc based on the output error signal {tilde over (y)} and the controller state error signal xcm−xc; providing the auxiliary controller signal udc to an error observer for use in generating the observed error signal Ê; generating a neural network control signal uNN based on the plant control signal u, the plant output signal y, and connection weights M,N; and generating the adaptive control signal uad based on the neural network control signal uNN and the auxiliary controller signal udc.
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