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Intelligent Control System Design for a Class of Nonlinear Mechanical Systems

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Autonomous and Intelligent Systems (AIS 2011)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6752))

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Abstract

In this work, intelligent control technique using multiple parameter models is proposed for robust trajectory tracking control for a class of nonlinear systems. The idea is to reduce the controller gains so as to reduce the control efforts from the single model (SM) certainty equivalence (CE) principle based classical adaptive control approach. The method allows classical adaptive control to be switched into a candidate among the finite set of candidate controllers that best approximates the plant at each instant of time. The Lyapunov function inequality is used to identify a candidate that closely approximates the plant at each instant of time. The design can be employed to achieve good transient tracking performance with smaller values of controller gains in the presence of large scale parametric uncertainties. The proposed design is implemented and evaluated on 3-DOF Phantom Premimum TM 1.5 haptic robot device to demonstrate the effectiveness of the theoretical development.

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Author information

Authors and Affiliations

  1. School of Information Technology and Engineering (SITE), University of Ottawa, 800 King Edward Road, Ottawa, Canada, K1N 6N5

    S. Islam & A. El Saddik

  2. School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA, 02138, USA

    S. Islam

  3. Department of Systems and Computer Engineering, Carleton University, Ottawa, Ontario, Canada, K1S 5B6

    P. X. Liu

Authors
  1. S. Islam
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  2. P. X. Liu
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  3. A. El Saddik
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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Waterloo, N2L 3G1, Waterloo, ON, Canada

    Mohamed Kamel  & Fakhri Karray  & 

  2. School of Information Technology and Engineering (SITE), University of Orrawa, 800 King Edward Avenue, K1N 6N5, Ottawa, ON, Canada

    Wail Gueaieb

  3. Faculty of Engineering and Material Science, Department of Mechatronics Engineering, German University in Egypt, Main Entrance El Tagamoa El Khames, New Cairo City, Egypt

    Alaa Khamis

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© 2011 Springer-Verlag Berlin Heidelberg

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Islam, S., Liu, P.X., El Saddik, A. (2011). Intelligent Control System Design for a Class of Nonlinear Mechanical Systems. In: Kamel, M., Karray, F., Gueaieb, W., Khamis, A. (eds) Autonomous and Intelligent Systems. AIS 2011. Lecture Notes in Computer Science(), vol 6752. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21538-4_14

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  • DOI: https://doi.org/10.1007/978-3-642-21538-4_14

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-21537-7

  • Online ISBN: 978-3-642-21538-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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