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Adaptive Control 240118 100513

Adaptive control systems can modify controller parameters in response to changes in a system's dynamics or disturbances. There are two main classes - direct adaptive control adjusts parameters directly from feedback, while indirect uses an estimated system model. Adaptive control can improve performance over a wide range of conditions but requires detecting changes and can be more complex than traditional control. It is preferred when systems have uncertain or time-varying parameters, nonlinearities, disturbances, or dead times.

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23 views

Adaptive Control 240118 100513

Adaptive control systems can modify controller parameters in response to changes in a system's dynamics or disturbances. There are two main classes - direct adaptive control adjusts parameters directly from feedback, while indirect uses an estimated system model. Adaptive control can improve performance over a wide range of conditions but requires detecting changes and can be more complex than traditional control. It is preferred when systems have uncertain or time-varying parameters, nonlinearities, disturbances, or dead times.

Uploaded by

Sylvia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Adaptive control

Introduction
• “to adapt” means to change a behavior to
conform to new circumstances.
• An adaptive controller
a controller that can modify its behavior in
response to the changes in dynamics of the
processes and the disturbances acting on the
process.
Classes
• Direct adaptive control: In this approach, the
controller parameters are adjusted directly
based on feedback from the system..
• Indirect adaptive control: In this approach, the
controller parameters are adjusted based on
an estimated model of the system.
A block diagram of the adaptive
controller
Direct adaptive control
Indirect Adaptive Control
Benefits of Adaptive Control
• Adaptive control can handle a wide range of
operating conditions.
• It can improve the performance of the system
Challenges of Adaptive Control
• The system needs to be able to detect changes
in the system or environment in order to
adapt.
• Adaptive control systems can be more
complex than traditional control systems.
Adaptive control system in a cruise
control system for a car
Circumstances under which adaptive control can be
preferred:

It is convenient to control a plant with the available


conventional PID controllers.
However, there are some circumstances under which the
adaptive controllers can perform better than the
conventional PID controllers, and these are:
• Change in plant transfer function due to variations in
the environment, the size and properties of the raw
materials, wear & tear of certain components.
• Stochastic disturbances (disturbances whose
characteristics/behavior are unpredictable )
Contd..
• Change in nature of inputs
• Nonlinear behavior as in case of complex
chemical or biochemical reaction
• Appreciable dead time
• Unknown parameters, when control system
for new process is commissioned.
Effects of process variations
• Process variations can have a significant effect on a
control system.
• These variations can be caused by a number of
factors, such as changes in the raw materials,
changes in the operating conditions, or even changes
in the environment.
Some mechanisms causing variation in
process dynamics are:

• Nonlinear actuators
• Flow and speed variations
• Flight control
• Variation in disturbance characteristics
Adaptive control schemes

• Gain scheduling
• Model-Reference Adaptive System (MRAS)
• Self-Tuning Regulator (STR)
• Dual Control
Gain Scheduling
• Gain scheduling is an adaptive control
strategy, where the gain of the system is
determined and based on its value the
controller parameters are changed.
• This approach is called gain scheduling
because
– the scheme was originally used to measure the
gain and then change, that is, schedule the
controller to compensate for changes in the
process gain.
Block diagram of system with gain
scheduling
Advantages and disadvantages
Advantages:
• Parameters can be changed quickly in response to
changes in plant dynamics
• very easy to apply
Drawbacks:
• It is an open-loop adaptation scheme, with no real
learning or intelligence
• The design required for its implementation is
enormous.
Model – Reference Adaptive
System (MRAS)
• Used to solve a problem in which the
performance specifications are given in terms
of a reference model.
• This model tells how the process output
ideally should respond to the command signal.
Block diagram of MRAS
Control of the robotic arm
Challenges of MRAC
• The reference model may not be an accurate
representation of the actual system.
• The adaptation law may not converge to the
optimal solution, which could lead to
suboptimal performance.
• There may be constraints on the control law
that are not taken into account by the
adaptation law, which could also lead to
instability
Self Tuning Regulator (STR)
• The gain scheduling and MRAS are called
direct methods, because the adjustment rule
tells directly how the controller parameters
should be updated.
• A difference scheme is obtained if the
estimates of the process parameters are
updated and the controller parameters are
obtained from the solution of a design
problem using the estimated parameters.
Block Diagram of a STR
Advantages
• The main advantage is that they are simpler
and less computationally intensive than
MRAC.
• They also tend to be more robust to model
errors.
• However, they can be less accurate than
MRAC in some cases, and they can also be
more sensitive to measurement noise
Challenges
• Tuning the controller. This can be difficult, as
the parameters of the plant model may not be
known in advance.
• Dealing with measurement noise. This can be
a problem because STRs can be more sensitive
to measurement noise than other control
methods
Dual Control
• Dual control is a method that combines two
control techniques to improve the
performance of the system.
• In dual control, a feedback controller is used in
conjunction with a feedforward controller.
Applications of Adaptive control
• aerospace
• process control
• ship steering
• robotics and automotive
• biomedical systems.

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