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Experimental verification of a real-time tuning method of a model-based controller by perturbations to its poles

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Title: Experimental verification of a real-time tuning method of a model-based controller by perturbations to its poles
Authors: Kajiwara, Itsuro Browse this author →KAKEN DB
Furuya, Keiichiro Browse this author
Ishizuka, Shinichi Browse this author
Keywords: Vibration control
Online tuning
Simultaneous perturbation stochastic approximation
Smart structure
Adaptive control
Model-based control
Issue Date: Jul-2018
Publisher: Elsevier
Journal Title: Mechanical systems and signal processing
Volume: 107
Start Page: 396
End Page: 408
Publisher DOI: 10.1016/j.ymssp.2018.01.017
Abstract: Model-based controllers with adaptive design variables are often used to control an object with time-dependent characteristics. However, the controller's performance is influenced by many factors such as modeling accuracy and fluctuations in the object's characteristics. One method to overcome these negative factors is to tune model-based controllers. Herein we propose an online tuning method to maintain control performance for an object that exhibits time-dependent variations. The proposed method employs the poles of the controller as design variables because the poles significantly impact performance. Specifically, we use the simultaneous perturbation stochastic approximation (SPSA) to optimize a model-based controller with multiple design variables. Moreover, a vibration control experiment of an object with time-dependent characteristics as the temperature is varied demonstrates that the proposed method allows adaptive control and stably maintains the closed-loop characteristics.
Rights: © 2018 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (
Type: article
Appears in Collections:工学院・工学研究院 (Graduate School of Engineering / Faculty of Engineering) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

Submitter: 梶原 逸朗

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