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1. 发明授权

US08712559B2 Adaptive control for uncertain nonlinear multi-input multi-output systems 有权
标题翻译：不确定非线性多输入多输出系统的自适应控制
公开(公告)号：US08712559B2
公开(公告)日：2014-04-29
申请号：US13023965
申请日：2011-02-09
申请人： Chengyu Cao , Naira Hovakimyan , Enric Xargay
发明人： Chengyu Cao , Naira Hovakimyan , Enric Xargay
IPC分类号： G06F19/00
CPC分类号： G05B13/048
摘要： Systems and methods of adaptive control for uncertain nonlinear multi-input multi-output systems in the presence of significant unmatched uncertainty with assured performance are provided. The need for gain-scheduling is eliminated through the use of bandwidth-limited (low-pass) filtering in the control channel, which appropriately attenuates the high frequencies typically appearing in fast adaptation situations and preserves the robustness margins in the presence of fast adaptation.
摘要翻译：提供了具有确定性能的无与伦比的不确定性存在的不确定非线性多输入多输出系统的自适应控制系统和方法。通过在控制信道中使用带宽限制（低通）滤波来消除增益调度的需要，其适当地衰减通常出现在快速适应情况下的高频，并且在存在快速适配的情况下保持鲁棒性余量。

2. 发明申请

US20110196514A1 ADAPTIVE CONTROL FOR UNCERTAIN NONLINEAR MULTI-INPUT MULTI-OUTPUT SYSTEMS 有权
标题翻译：不确定性非线性多输入多输出系统的自适应控制
公开(公告)号：US20110196514A1
公开(公告)日：2011-08-11
申请号：US13023965
申请日：2011-02-09
申请人： CHENGYU CAO , Naira Hovakimyan , Enric Xargay
发明人： CHENGYU CAO , Naira Hovakimyan , Enric Xargay
IPC分类号： G05B13/02
CPC分类号： G05B13/048
摘要： Systems and methods of adaptive control for uncertain nonlinear multi-input multi-output systems in the presence of significant unmatched uncertainty with assured performance are provided. The need for gain-scheduling is eliminated through the use of bandwidth-limited (low-pass) filtering in the control channel, which appropriately attenuates the high frequencies typically appearing in fast adaptation situations and preserves the robustness margins in the presence of fast adaptation.
摘要翻译：提供了具有确定性能的无与伦比的不确定性存在的不确定非线性多输入多输出系统的自适应控制系统和方法。通过在控制信道中使用带宽限制（低通）滤波来消除增益调度的需要，其适当地衰减通常出现在快速适应情况下的高频，并且在存在快速适配的情况下保持鲁棒性余量。

3. 发明申请

US20060217819A1 Low-pass adaptive/neural controller device and method with improved transient performance 审中-公开
标题翻译：低通自适应/神经控制器设备和方法具有改进的瞬态性能
公开(公告)号：US20060217819A1
公开(公告)日：2006-09-28
申请号：US11387067
申请日：2006-03-23
申请人： Chengyu Cao , Naira Hovakimyan
发明人： Chengyu Cao , Naira Hovakimyan
IPC分类号： G05B13/02
CPC分类号： G05B13/042 , G05B13/027
摘要： A novel 1 adaptive/neural control architecture provides a device and method that permits fast adaptation and yields guaranteed transient response simultaneously for both the system's input and output signals, in addition to providing asymptotic tracking. The main feature of the invention is rapid adaptation with a guaranteed low frequency control signal. The ability to adapt rapidly ensures the desired transient performance for both the system's input and output signals, simultaneously, while a low-pass filter in the feedback loop attenuates the high-frequency components in the control signal.
摘要翻译： “img id =”custom-character-00001“he =”3.13mm“wi =”2.46mm“file =”US20060217819A1-20060928-P00900.TIF“alt =”custom character“img-content =”character“img 自适应/神经控制架构提供了允许快速适应并且同时为系统的输入和输出信号产生保证的瞬态响应的设备和方法，以及提供渐近的跟踪。本发明的主要特征是利用保证的低频控制信号快速适应。快速适应的能力同时确保系统输入和输出信号的期望瞬态性能，而反馈环路中的低通滤波器会衰减控制信号中的高频分量。

4. 发明申请

US20090127400A1 ADAPTIVE CONTROL IN THE PRESENCE OF INPUT CONSTRAINTS 有权
标题翻译：输入约束存在的自适应控制
公开(公告)号：US20090127400A1
公开(公告)日：2009-05-21
申请号：US12357185
申请日：2009-01-21
申请人： Eugene Lavretsky , Naira Hovakimyan
发明人： Eugene Lavretsky , Naira Hovakimyan
IPC分类号： G05D1/00
CPC分类号： G05B13/041 , G05B5/01
摘要： An adaptive control system is provided that scales both gain and commands to avoid input saturation. The input saturation occurs when a commanded input uc exceeds an achievable command limit of umax. To avoid input saturation, the commanded input uc is modified according to a factor μ.
摘要翻译：提供了一种自适应控制系统，可以缩放增益和命令，以避免输入饱和。当命令输入uc超过umax的可达到的命令极限时，输入饱和。为了避免输入饱和，命令输入uc根据因子mu修改。

5. 发明申请

US20050182499A1 Adaptive control system having direct output feedback and related apparatuses and methods 有权
标题翻译：具有直接输出反馈的自适应控制系统及相关装置和方法
公开(公告)号：US20050182499A1
公开(公告)日：2005-08-18
申请号：US11105826
申请日：2005-04-12
申请人： Anthony Calise , Naira Hovakimyan , Moshe Idan
发明人： Anthony Calise , Naira Hovakimyan , Moshe Idan
IPC分类号： G05B13/02 , G06F15/18
CPC分类号： G05B13/027
摘要： An adaptive control system (ACS) uses direct output feedback to control a plant. The ACS uses direct adaptive output feedback control developed for highly uncertain nonlinear systems, that does not rely on state estimation. The approach is also applicable to systems of unknown, but bounded dimension, whose output has known, but otherwise arbitrary relative degree. This includes systems with both parameter uncertainty and unmodeled dynamics. The result is achieved by extending the universal function approximation property of linearly parameterized neural networks to model unknown system dynamics from input/output data. The network weight adaptation rule is derived from Lyapunov stability analysis, and guarantees that the adapted weight errors and the tracking error are bounded.
摘要翻译：自适应控制系统（ACS）使用直接输出反馈来控制设备。 ACS使用针对高度不确定的非线性系统开发的直接自适应输出反馈控制，不依赖于状态估计。该方法也适用于未知但有界尺寸的系统，其输出已知，但以任意相对度计。这包括具有参数不确定性和未建模动力学的系统。结果是通过将线性参数化神经网络的通用函数近似属性扩展到来自输入/输出数据的未知系统动力学来实现。网络权重适应规则是从李亚普诺夫稳定性分析中得出的，并保证适应的权重误差和跟踪误差是有界的。

6. 发明授权

US07853338B1 Adaptive output feedback apparatuses and methods capable of controlling a non-minimum phase system 有权
标题翻译：能够控制非最小相位系统的自适应输出反馈装置和方法
公开(公告)号：US07853338B1
公开(公告)日：2010-12-14
申请号：US11845627
申请日：2007-08-27
申请人： Naira Hovakimyan , Anthony J Calise , Bong-Jun Yang
发明人： Naira Hovakimyan , Anthony J Calise , Bong-Jun Yang
IPC分类号： G05B13/02 , G05B1/01 , G06F7/00
CPC分类号： G05B13/048 , G05B13/027 , G05B13/042
摘要： The invention comprises apparatuses and methods for providing the capability to stabilize and control a non-minimum phase, nonlinear plant with unmodeled dynamics and/or parametric uncertainty through the use of adaptive output feedback. A disclosed apparatus can comprise a reference model unit for generating a reference model output signal ym The apparatus can comprise a combining unit that combines and differences a plant output signal y of a non-minimum phase plant for which not all of the states can be sensed, and a plant output signal y, to generate an output error signal {tilde over (y)}. The apparatus can further comprise an adaptive control unit for generating an adaptive control signal uad used to control the plant.
摘要翻译：本发明包括通过使用自适应输出反馈来提供稳定和控制具有未建模动力学和/或参数不确定性的非最小相位非线性装置的能力的装置和方法。所公开的设备可以包括用于生成参考模型输出信号ym的参考模型单元。该装置可以包括组合单元，其组合并且区分非最小相位设备的工厂输出信号y，对于这些设备，不能全部检测到状态，以及植物输出信号y，以产生输出误差信号{波前（y）}。该装置还可以包括用于产生用于控制设备的自适应控制信号uad的自适应控制单元。

7. 发明授权

US07277764B2 Adaptive output feedback apparatuses and methods capable of controlling a non-minimum phase system 有权
标题翻译：能够控制非最小相位系统的自适应输出反馈装置和方法
公开(公告)号：US07277764B2
公开(公告)日：2007-10-02
申请号：US10732208
申请日：2003-12-09
申请人： Naira Hovakimyan , C. Anthony Calise , Bong-Jun Yang
发明人： Naira Hovakimyan , C. Anthony Calise , Bong-Jun Yang
IPC分类号： G05B15/00
CPC分类号： G05B13/048 , G05B13/027 , G05B13/042
摘要： The invention comprises apparatuses and methods for providing the capability to stabilize and control a non-minimum phase, nonlinear plant with unmodeled dynamics and/or parametric uncertainty through the use of adaptive output feedback. A disclosed apparatus can comprise a reference model unit for generating a reference model output signal ym. The apparatus can comprise a combining unit that combines and differences a plant output signal y of a non-minimum phase plant for which not all of the states can be sensed, and a plant output signal y, to generate an output error signal {tilde over (y)}. The apparatus can further comprise an adaptive control unit for generating an adaptive control signal uad used to control the plant.
摘要翻译：本发明包括通过使用自适应输出反馈来提供稳定和控制具有未建模动力学和/或参数不确定性的非最小相位非线性装置的能力的装置和方法。所公开的装置可以包括用于生成参考模型输出信号y m的参考模型单元。该装置可以包括组合单元，其组合并且使不同于所有状态的非最小相位装置的工厂输出信号y能够被检测到差异，以及工厂输出信号y，以产生输出误差信号y。该装置还可以包括用于产生用于控制设备的自适应控制信号的自适应控制单元。

8. 发明申请

US20050137724A1 Adaptive observer and related method 审中-公开
标题翻译：自适应观察者及相关方法
公开(公告)号：US20050137724A1
公开(公告)日：2005-06-23
申请号：US10961883
申请日：2004-10-08
申请人： Naira Hovakimyan , Anthony Calise , Venkatesh Madyastha
发明人： Naira Hovakimyan , Anthony Calise , Venkatesh Madyastha
IPC分类号： G05B13/02 , G05B13/04 , G06G7/00 , G06F15/18
CPC分类号： G05B13/027 , G05B13/04
摘要： A disclosed apparatus comprises an adaptive observer that has an adaptive element to augment a linear observer to enhance its ability to control a nonlinear system. The adaptive element comprises a first, and optionally a second, nonlinearly parameterized neural network unit, the inputs and output layer weights of which can be adapted on line. The adaptive observer generates the neural network units' teaching signal by an additional linear error observer of the nominal system's error dynamics. The adaptive observer has the ability to track an observed system in the presence of unmodeled dynamics and disturbances. The adaptive observer comprises a delay element incorporated in the adaptive element in order to provide delayed values of an actual output signal and a control signal to the neural network units.
摘要翻译：所公开的装置包括自适应观测器，其具有用于增强线性观察者以增强其控制非线性系统的能力的自适应元件。自适应元件包括第一和非必需的第二非线性参数化神经网络单元，其输入和输出层权重可以在线适配。自适应观测器通过名义系统误差动力学的附加线性误差观测器产生神经网络单元的教学信号。自适应观测器具有在存在未建模的动力学和扰动的情况下跟踪观测系统的能力。自适应观察器包括并入自适应元件中的延迟元件，以便向神经网络单元提供实际输出信号和控制信号的延迟值。

9. 发明授权

US07418432B2 Adaptive control system having direct output feedback and related apparatuses and methods 有权
标题翻译：具有直接输出反馈的自适应控制系统及相关装置和方法
公开(公告)号：US07418432B2
公开(公告)日：2008-08-26
申请号：US11105826
申请日：2005-04-12
申请人： Anthony J. Calise , Naira Hovakimyan , Moshe Idan
发明人： Anthony J. Calise , Naira Hovakimyan , Moshe Idan
IPC分类号： G05B13/02 , G06E1/00 , G06E3/00 , G06F15/18 , G06G7/00
CPC分类号： G05B13/027
摘要： An adaptive control system (ACS) uses direct output feedback to control a plant. The ACS uses direct adaptive output feedback control developed for highly uncertain nonlinear systems, that does not rely on state estimation. The approach is also applicable to systems of unknown, but bounded dimension, whose output has known, but otherwise arbitrary relative degree. This includes systems with both parameter uncertainty and unmodeled dynamics. The result is achieved by extending the universal function approximation property of linearly parameterized neural networks to model unknown system dynamics from input/output data. The network weight adaptation rule is derived from Lyapunov stability analysis, and guarantees that the adapted weight errors and the tracking error are bounded.
摘要翻译：自适应控制系统（ACS）使用直接输出反馈来控制设备。 ACS使用针对高度不确定的非线性系统开发的直接自适应输出反馈控制，不依赖于状态估计。该方法也适用于未知但有界尺寸的系统，其输出已知，但以任意相对度计。这包括具有参数不确定性和未建模动力学的系统。结果是通过将线性参数化神经网络的通用函数近似属性扩展到来自输入/输出数据的未知系统动力学来实现。网络权重适应规则是从李亚普诺夫稳定性分析中得出的，并保证适应的权重误差和跟踪误差是有界的。

10. 发明授权

US06904422B2 Adaptive control system having direct output feedback and related apparatuses and methods 有权
公开(公告)号：US06904422B2
公开(公告)日：2005-06-07
申请号：US09865659
申请日：2001-05-25
申请人： Anthony J. Calise , Naira Hovakimyan , Moshe Idan
发明人： Anthony J. Calise , Naira Hovakimyan , Moshe Idan
IPC分类号： G05B13/02 , G06F15/18
CPC分类号： G05B13/027
摘要： An adaptive control system (ACS) uses direct output feedback to control a plant. The ACS uses direct adaptive output feedback control developed for highly uncertain nonlinear systems, that does not rely on state estimation. The approach is also applicable to systems of unknown, but bounded dimension, whose output has known, but otherwise arbitrary relative degree. This includes systems with both parameter uncertainty and unmodeled dynamics. The result is achieved by extending the universal function approximation property of linearly parameterized neural networks to model unknown system dynamics from input/output data. The network weight adaptation rule is derived from Lyapunov stability analysis, and guarantees that the adapted weight errors and the tracking error are bounded.

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