WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 18, 2023
Real Time Discrete Optimized Adaptive Control for Ionic Polymer Metal Composites
Authors: , , ,
Abstract: This paper describes a proposed method for optimizing the parameters of a Model Reference Adaptive Control (MRAC) system. The MRAC system uses a reference model to control a plant with unknown dynamics and continuously updates its parameters to improve control accuracy. The system requires an adjustment of parameter γ, which participates in the feedback of the system but cannot be adjusted in real time through trial and error. The proposed method uses optimization techniques to adjust the γ parameters in real time, specifically at the start of the control process, when the maximum deviation of the plant from the reference model is observed. The optimization technique varies the parameters and seeks the best solution to quickly reduce the error. Once the optimal solution is found, the optimization is turned off, allowing the MRAC to continue efficiently reducing the error. In the case of sudden changes in the error due to endogenous or exogenous factors, optimization is activated again to redefine the γ parameters. The magnitude of the change depends on the rate of error changes. The response of the IPMC was measured and compared against a reference signal using three different control techniques MRAC, Model Reference Adaptive Control (MRAC), MRAC-Taguchi, and MRAC-Taguchi-DCT, and the results show that the last penalizes frequencies beyond the fundamental frequency through the cost function, resulting in negligible harmonic distortion.
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Pages: 26-37
DOI: 10.37394/23203.2023.18.3