Results 251 to 260 of about 27,507,539 (289)

MODEL REFERENCE ADAPTIVE CONTROL OF MECHANICAL MANIPULATORS

IFAC Proceedings Volumes, 1983
Abstract The dynamic equations of mechanical manipulators are highly nonlinear and complex. Furthermore, the inertia characteristics of the manipulator depend on the payload which is often unknown. Because of these reasons, there is an increasing interest in adaptive control of mechanical manipulators.
M. Tomizuka, R. Horowitz
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Identifier-tracking model reference adaptive control

International Journal of Control, 2008
Model reference adaptive control is a major design method for controlling plants with uncertain parameters. The primary objective of this paper is to develop a new design approach for a differentiator-free model reference adaptive control of a single-input single-output linear time-invariant plant.
Kai Shing Yeung, Wei-Der Chung, H. Yu
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Fast adaptation model reference adaptive control

2017 4th International Conference on Power, Control & Embedded Systems (ICPCES), 2017
Since adaptive controller does not rely fully on dynamic system models, therefore, there exist a necessity of fast adaptation to achieve improved tracking performance using high adaptive gain. However, attaining fast adaptation using high adaptive gain is a serious limitation of adaptive controllers which may raise certain serious issues.
Rajiv Dey, Bharat Verma, Sachin K. Jain, Prabin K. Padhy   +3 more
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Model Reference Adaptive Control

2000
Control algorithms discussed in Chapters 2–5 are generally based on the discrete-time model and in most cases the input and output models are used to formulate the algorithm. In this chapter, an alternative approach will be described using the state space model.
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Robust model reference adaptive control with hybrid adaptive law

International Journal of Systems Science, 2002
Robust model reference adaptive control (RMRAC) with hybrid adaptive law is considered. The advantages of the hybrid RMRAC scheme over other continuous counterparts include smaller computational effort during implementation and better robustness properties in the presence of modelling errors and disturbances.
Xue-Jun Xie, Yuqiang Wu
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Fuzzy model reference control with adaptation mechanism

Expert Systems with Applications, 2013
Abstract An improved approach to adaptation in fuzzy model reference learning control (FMRLC) will be introduced in this paper. The main idea of the presented method consists in including into adaptation process the input membership functions in the fuzzy controller.
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Robust model reference adaptive control for multivariable plants

International Journal of Adaptive Control and Signal Processing, 1988
AbstractA complete procedure for generating and analysing robust model reference adaptive control schemes for multivariable plants is developed. The procedure consists of two parts: the first part involves the characterization of the integral structure of the modelled part of the plant, and the associated parametrization of the controller structure ...
Tao, G., Ioannou, Petros A., Tao, G., Ioannou, Petros A.   +3 more
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A new approach to model reference adaptive control

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002
In classical model reference adaptive control, the goal is to design a controller to make the closed-loop system act like a prespecified reference model in the face of significant plant uncertainty. Typically, the controller consists of an identifier (or tuner) which is used to adjust the parameters of a linear time-invariant (LTI) compensator, and ...
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Performance analysis and improvement in model reference adaptive control

IEEE Transactions on Automatic Control, 1994
Summary: Boundedness of all closed-loop signals and asymptotic convergence of the tracking error to zero or to a residual set are the criteria that have been most commonly used to characterize the performance of model reference adaptive control schemes in the absence of persistently exciting signals.
Datta, Aniruddha, Ioannou, Petros A., Datta, Aniruddha, Ioannou, Petros A.   +3 more
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Review of Model Reference Adaptive Control

2018 International Conference on Information , Communication, Engineering and Technology (ICICET), 2018
Adaptive control is a technique used for adjusting the parameters of a plant in real-time in order to maintain a desired level of performance when the parameters of the system are unknown and/or change with time. Model reference Adaptive Control (MRAC) offers an approach for the solution of problems related to Adaptive Control in real world.
Amritash Shekhar, Abhijeet Sharma
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