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Robust Fixed Point Transformations in Adaptive Control Using Local Basin of Attraction
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Orientador(es)
Resumo(s)
A further step towards a novel approach to adaptive nonlinear control developed
at Budapest Tech in the past few years is reported. This approach obviates the use of the
complicated Lyapunov function technique that normally provides global stability of
convergence at the costs of both formal and essential restrictions, by applying Cauchy
sequences of local, bounded basin of attraction in an iterative control that is free of such
restrictions. Its main point is the creation of a robust iterative sequence that only slightly
depends on the features of the controlled system and mainly is determined be the control
parameters applied. It is shown that as far as its operation is considered the proposed
method can be located between the robust Variable Structure / Sliding Mode and the
adaptive Slotine-Li control in the case of robots or other Classical Mechanical Systems.
The operation of these method is comparatively analyzed for a wheel + connected mass
system in which this latter component is “stabilized” along one of the spokes of the wheel
in the radial direction by an elastic spring. The robustness of these methods is also
investigated againts unknown external disturbances of quite significant amplitudes. The
numerical simulations substantiate the superiority of the robust fixed point transformations
in the terms of accuracy, simplicity, and smoothness of the control signals applied.
Descrição
Palavras-chave
Cauchy Sequences Banach Spaces Adaptive Slotine-Li Robot Control Variable Structure Sliding Mode Controller Fixed Point Transformations