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Studies on the design of output feedback based adaptive control systems for MIMO nonlinear systems

Research Project

Project/Area Number 15560382
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionKumamoto University

Principal Investigator

MIZUMOTO Ikuro  Kumamoto University, Dept.of Mechanical Engineering and Materials Science, Associate Professor, 工学部, 助教授 (30239256)

Co-Investigator(Kenkyū-buntansha) IWAI Zenta  Kumamoto University, Dept.of Mechanical Engineering and Materials Science, Professor, 工学部, 教授 (40026109)
ISHITOBI Mitsuaki  Kumamoto University, Graduate School of Science and Technology, Professor, 大学院・自然科学研究科, 教授 (40159752)
KUMON Makoto  Kumamoto University, Dept.of Mechanical Engineering and Materials Science, Research Associate, 工学部, 助手 (70332864)
Project Period (FY) 2003 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥3,100,000 (Direct Cost: ¥3,100,000)
Fiscal Year 2004: ¥1,600,000 (Direct Cost: ¥1,600,000)
Fiscal Year 2003: ¥1,500,000 (Direct Cost: ¥1,500,000)
Keywordsadaptive control / robust adaptive control / nonlinear systems / backstepping / parallel feedforward compensator / Multivariable control / 並列フィードフォワード補償器
Research Abstract

The adaptive control scheme is considered as one of the methods against the uncertainties and to improve the robustness of the control system. With this in mind, the adaptive control of nonlinear systems has attracted a great deal of attention, and many sort of adaptive strategies for nonlinear systems were proposed in the early 90's. Most of them, unfortunately, are based on the state feedback strategy ; in these methods, one has to introduce a state observer if the state variables are not available. Therefore the controller structure becomes complex and this might be a restriction for the application of these adaptive methods to practical systems. Thus it is very important from the point of practical application to consider a controller with simple controller structure and robustness with respect to uncertainties. This research was concerned with the synthesis of design scheme of such simple adaptive controls based on output feedback for nonlinear systems including MIMO systems, where only the output signal is available. In particular, the following topics were studied.
1)Design of output feedback based robust adaptive control systems for MIMO nonlinear systems.
2)Basic studies on the design schemes of control systems with a parallel feedforward compensator.
3)Adaptive output feedback control design for discrete systems
4)Experimental validation of proposed methods

Report

(3 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • Research Products

    (27 results)

All 2005 2004 2003 Other

All Journal Article (21 results) Publications (6 results)

  • [Journal Article] Robust Adaptive Control for Strict-Feedback Nonlinear Systems2005

    • Author(s)
      I.Mizumoto, R.B.Gopaluni, S.L.Shah, Z.Iwai
    • Journal Title

      Asian Journal of Control 7・3(掲載予定)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adaptive Output Feedback Control of Uncertain MIMO Nonlinear Systems with Unknown Orders2005

    • Author(s)
      I.Mizumoto, R.Michino, M.Takahashi, M.Kumon, Z.Iwai
    • Journal Title

      Proc.of 16th IFAC World Congress (掲載予定)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Robust Adaptive Control for Strict-Feedback Nonlinear Systems2005

    • Author(s)
      I.Mizumoto, R.B.Gopaluni, S.L.Shah, Z.Iwai
    • Journal Title

      Asian Journal of Control Vol.7,No.3(to appear)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adaptive Output Feedback Control of Uncertain MIMO Nonlinear Systems with Unknown Orders2005

    • Author(s)
      I.Mizumoto, R.Michino, M.Takahashi, M.Kumon, Z.Iwai
    • Journal Title

      Proc.of 16th IFAC World Congress (to appear)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Robust Adaptive Control for Strict-Feedback Nonlinear Systems2005

    • Author(s)
      I.Mizumoto, R.B.Gopaluni, S.L.Shah, Z.Iwai
    • Journal Title

      Asian Journal of Control 7・3(発表予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Adaptive Output Feedback Control of Uncertain MIMO Nonlinear Systems with Unknown Orders2005

    • Author(s)
      I.Mizumoto, R.Michino, M.Takahashi, M.Kumon, Z.Iwai
    • Journal Title

      Proc.of 16th IFAC World Congress (発表予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 高次相対次数を有する非線形時変システムに対するハイゲイン適応出力フィードバック制御2004

    • Author(s)
      水本郁朗, 道野隆二, 田尾祐一, 公文誠, 岩井善太
    • Journal Title

      計測自動制御学会論文集 40・10

      Pages: 1014-1023

    • NAID

      10013747521

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] High Gain Adaptive Output Feedback Control for Time-Varying Nonlinear Systems with Higher Order Relative Degree2004

    • Author(s)
      I.Mizumoto, R.Michino, Y.Tao, M.Kumon, Z.Iwai
    • Journal Title

      Trans.of Society of Instrument and Control Engineers Vol.40,No 10

      Pages: 1014-1023

    • NAID

      10013747521

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] One-Step Backstepping Design of Adaptive Output Feedback Controller for Linear Systems2004

    • Author(s)
      R.Michino, I.Mizumoto, M.Kumon, Z.Iwai
    • Journal Title

      Proc.of IFAC Workshop on ALCOSP

      Pages: 705-710

    • NAID

      130003971423

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] High Gain Adaptive Output Feedback Control for Time-Varying Nonlinear Systems with Higher Order Relative Degree2004

    • Author(s)
      R.Michino, I.Mizumoto, Y.Tao, M.Kumon, Z.Iwai
    • Journal Title

      Proc.of the 5th Asian Control Conference

      Pages: 2034-2041

    • NAID

      10013747521

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] Simple Adaptive Control for Positioning of Pneumatic Cylinder with Adverse Stick-Slip2004

    • Author(s)
      Kozo Kyoizumi, Yukishige Fujita, Ikuro Mizumoto, Zenta Iwai
    • Journal Title

      Proc.of IFAC Workshop on Adaptive and Learning in Control and Signal Processing (ALCOSP 04)

      Pages: 87-92

    • Related Report
      2004 Annual Research Report
  • [Journal Article] One-Step Backstepping Design of Adaptive Output Feedback Controller for Linear Systems2004

    • Author(s)
      Ryuji Michino, Ikuro Mizumoto, Makoto Kumon, Zenta Iwai
    • Journal Title

      Proc.of IFAC Workshop on Adaptive and Learning in Control and Signal Processing (ALCOSP 04)

      Pages: 705-710

    • NAID

      130003971423

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term2003

    • Author(s)
      Ryuji Michino, Ikuro Mizumoto, Zenta Iwai, Makoto Kumon
    • Journal Title

      International Journal of Control, Automation and Systems 1・1

      Pages: 19-27

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] A Robust Nonlinear Adaptive Backstepping Controller for a CSTR2003

    • Author(s)
      R.B.Gopaluni, I.Mizumoto, S.L.Shah
    • Journal Title

      Industrial and Engineering Chemistry Research 42・20

      Pages: 4628-4644

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] ハイゲインフィードバックに基づくロバスト適応バックステッピング制御とそのCSTR制御への応用2003

    • Author(s)
      水本郁朗, 道野隆二, 岩井善太, R.B.Gopaluni, S.L.Shah
    • Journal Title

      日本機械学会論文集(C編) 69・686

      Pages: 143-150

    • NAID

      130004234902

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Robust Adaptive Tracking Control for Time-varying Nonlinear Systems with Higher Order Relative Degree2003

    • Author(s)
      Ikuro Mizumoto, Ryuji Michino, Yuichi Tao, Zenta Iwai
    • Journal Title

      Proc.of the 42^<th> IEEE Conference on Decision and Control

      Pages: 4303-4308

    • NAID

      120002486983

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term2003

    • Author(s)
      Ryuji Michino, Ikuro Mizumoto, Zenta Iwai, Makoto Kumon
    • Journal Title

      International Journal of Control, Automation and Systems Vol.1,No.1

      Pages: 19-26

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] A Robust Nonlinear Adaptive Backstepping Controller for a CSTR2003

    • Author(s)
      R.B.Gopaluni, I.Mizumoto, S.L.Shah
    • Journal Title

      Industrial and Engineering Chemistry Research Vol.42,No.20

      Pages: 4628-4644

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Robust Adaptive Backstepping Control Based on High-Gain Feedback and Its Application to a CSTR Control2003

    • Author(s)
      I.Mizumoto, R.Michino, Z.Iwai, R.B.Gopaluni, S.L.Shah
    • Journal Title

      Trans.of the Japan Society of Mechanical Engineers (Ser.C) Vol.69,No.686

      Pages: 143-150

    • NAID

      130004234902

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Robust Adaptive Output Feedback Control for Nonlinear Systems with Higher Order Relative Degree2003

    • Author(s)
      R.Michino, I.Mizumoto, Y.Tao, Z.Iwai, M.Kumon
    • Journal Title

      Proc.of ICCAS

      Pages: 78-83

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adaptive Audio Servo for Multirate Robot Systems2003

    • Author(s)
      M.Kumon, T.Sugawara, K.Miike, I.Mizumoto, Z.Iwai
    • Journal Title

      Proc.of 2003 IEEE/RSJ International Symposium on Intelligent Robots and Systems

    • NAID

      120002469589

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Publications] Ryuji Michino, Ikuro Mizumoto, Zenta Iwai, Makoto Kumon: "Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term"International Journal of Control, Automation and Systems. 1・1. 19-27 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] R.B.Gopaluni, I.Mizumoto, S.L.Shah: "A Robust Nonlinear Adaptive Backstepping Controller for a CSTR"Industrial and Engineering Chemistry Research. 42・20. 4628-4644 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 水本郁朗, 道野隆二, 岩井善太, R.B.Gopaluni, S.L.Shah: "ハイゲインフィードバックに基づくロバスト適応バックステッピング制御とそのCSTR制御への応用"日本機械学会論文集(C編). 69・686. 143-150 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] R.Michino, I.Mizumoto, Y.Tao, Z.Iwai, M.Kumon: "Robust Adaptive Output Feedback Control for Nonlinear Systems with Higher Order Relative Degree"Proc.of ICCAS 2003. 78-83 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Ikuro Mizumoto, Ryuji Michino, Yuichi Tao, Zenta Iwai: "Robust Adaptive Tracking Control for Time-varying Nonlinear Systems with Higher Order Relative Degree"Proc.of the 42th IEEE Conference on Decision and Control. 4303-4308 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] M.Kumon, T.Sugawara, K.Miike, I.Mizumoto, Z.Iwai: "Adaptive Audio Servo for Multirate Robot Systems"Proc.of 2003 IEEE/RSJ International Symposium on Intelligent Robots and Systems. 182-187 (2003)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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