Robust Fixed Point Transformation Based Design for Model Reference Adaptive Control of a Modified TORA System

Tar, József and Várkonyi, Teréz Anna and Kovács, Levente and Rudas, Imre and Haidegger, Tamás (2014) Robust Fixed Point Transformation Based Design for Model Reference Adaptive Control of a Modified TORA System. In: IROS 2014 – 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Piscataway, Piscataway, pp. 123-128. ISBN 978-1-4799-6933-3

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Abstract

Benchmark problems continue to represent an ac- tively studied domain, focusing on application-based situations, where controllers have to deal with typical real environments. In this paper, a Robust Fixed Point Transformations (RFPT)-based Model Reference Adaptive Controller (MRAC) is designed for a modified Translational Oscillations by a Rotational Actuator (TORA) system, which is an indirectly driven, underactuated classical mechanical system with peculiar properties. The RFPT-based design has the advantage of working only with three free parameters, and does not need complex a priori calculations. It is founded on the idea that at the cost of replacing the requirement for global stability with local stability , a mathematically very simple and geometrically lucid, well interpreted methodology can be developed. The resulting struc- ture directly concentrates on the primary design intent, i.e., on the realization of a purely kinematically prescribed trajectory tracking. Examples and simulation results are presented in this paper, demonstrating that the RFPT-based design can provide an efficient MRAC controller for a very special physical system.

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