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The experimental results of a self tuning adaptive controller using online frequency identificationA fourth-order laboratory dynamic system featuring very low structural damping and a noncolocated actuator-sensor pair has been used to test a novel real-time adaptive controller, implemented in a minicomputer, which consists of a state estimator, a set of state feedback gains, and a frequency-locked loop for real-time parameter identification. The adaptation algorithm employed can correct controller error and stabilize the system for more than 50 percent variation in the plant's natural frequency, compared with a 10 percent stability margin in frequency variation for a fixed gain controller having the same performance as the nominal plant condition. The very rapid convergence achievable by this adaptive system is demonstrated experimentally, and proven with simple, root-locus methods.
Document ID
19850051467
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Chiang, W.-W.
(Stanford Univ. CA, United States)
Cannon, R. H., Jr.
(Stanford University Stanford, CA, United States)
Date Acquired
August 12, 2013
Publication Date
March 1, 1985
Publication Information
Publication: Journal of the Astronautical Sciences
Volume: 33
ISSN: 0021-9142
Subject Category
Cybernetics
Accession Number
85A33618
Distribution Limits
Public
Copyright
Other

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