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Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations
This paper formulates an enhanced Model-Reference-Adaptive-Controller (MRAC) that is augmented with a fuzzy-immune adaptive regulator to strengthen the disturbance-attenuation capability of closed-loop under-actuated systems. The proposed scheme employs the conventional state-space MRAC and augments...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
SAGE Publications
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10450491/ https://www.ncbi.nlm.nih.gov/pubmed/36039548 http://dx.doi.org/10.1177/00368504221122291 |
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author | Saleem, Omer Rizwan, Mohsin Awan, Fahim Gohar |
author_facet | Saleem, Omer Rizwan, Mohsin Awan, Fahim Gohar |
author_sort | Saleem, Omer |
collection | PubMed |
description | This paper formulates an enhanced Model-Reference-Adaptive-Controller (MRAC) that is augmented with a fuzzy-immune adaptive regulator to strengthen the disturbance-attenuation capability of closed-loop under-actuated systems. The proposed scheme employs the conventional state-space MRAC and augments it with a pre-configured fuzzy-immune mechanism that acts as a superior regulator to dynamically modulate the adaptation gains of the Lyapunov gain-adjustment law. The immunological computations increase the controller's adaptability to flexibly manipulate the damping control effort under exogenous disturbances. The efficacy of the proposed Immune-MRAC law is comparatively analyzed under practical disturbance conditions by conducting real-time hardware experiments on the QNET rotary pendulum. The experimental outcomes validate the faster transient-recovery behavior and stronger damping effort of the proposed control law against the exogenous disturbances while preserving the system's asymptotic stability and control energy efficiency. |
format | Online Article Text |
id | pubmed-10450491 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | SAGE Publications |
record_format | MEDLINE/PubMed |
spelling | pubmed-104504912023-08-26 Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations Saleem, Omer Rizwan, Mohsin Awan, Fahim Gohar Sci Prog Original Manuscript This paper formulates an enhanced Model-Reference-Adaptive-Controller (MRAC) that is augmented with a fuzzy-immune adaptive regulator to strengthen the disturbance-attenuation capability of closed-loop under-actuated systems. The proposed scheme employs the conventional state-space MRAC and augments it with a pre-configured fuzzy-immune mechanism that acts as a superior regulator to dynamically modulate the adaptation gains of the Lyapunov gain-adjustment law. The immunological computations increase the controller's adaptability to flexibly manipulate the damping control effort under exogenous disturbances. The efficacy of the proposed Immune-MRAC law is comparatively analyzed under practical disturbance conditions by conducting real-time hardware experiments on the QNET rotary pendulum. The experimental outcomes validate the faster transient-recovery behavior and stronger damping effort of the proposed control law against the exogenous disturbances while preserving the system's asymptotic stability and control energy efficiency. SAGE Publications 2022-08-30 /pmc/articles/PMC10450491/ /pubmed/36039548 http://dx.doi.org/10.1177/00368504221122291 Text en © The Author(s) 2022 https://creativecommons.org/licenses/by-nc/4.0/This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage). |
spellingShingle | Original Manuscript Saleem, Omer Rizwan, Mohsin Awan, Fahim Gohar Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations |
title | Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations |
title_full | Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations |
title_fullStr | Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations |
title_full_unstemmed | Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations |
title_short | Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations |
title_sort | robustification of the state-space mrac law for under-actuated systems via fuzzy-immunological computations |
topic | Original Manuscript |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10450491/ https://www.ncbi.nlm.nih.gov/pubmed/36039548 http://dx.doi.org/10.1177/00368504221122291 |
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