Results 291 to 300 of about 1,344,967 (337)

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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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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Model reference adaptive consensus control

52nd IEEE Conference on Decision and Control, 2013
A design method of model reference adaptive consensus control of multi-agent systems composed of unknown linear processes is presented in this paper. The proposed control scheme is constructed via a backstepping procedure and state variable filters together with a restricted information network structure among agents.
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Tracking and parameter identification for model reference adaptive control

International Journal of Robust and Nonlinear Control, 2019
We provide barrier Lyapunov functions for model reference adaptive control algorithms, allowing us to prove robustness in the input‐to‐state stability framework and to compute rates of exponential convergence of the tracking and parameter identification ...
Michael A. Malisoff
semanticscholar   +1 more source

Optimized Model Reference Adaptive Control

2013
In the chapter, aiming at shaping the tilt and yaw angular motion subsystem of the WIP system to minimize both motion tracking errors and angular accelerations, we employ linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model, which is similar to an impedance model of spring and damper with an artificial force ...
Zhijun Li, Chenguang Yang, Liping Fan
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Variable structure model reference adaptive control systems

International Journal of Control, 1984
Model reference adaptive controllers, when only input and output measurements are available, are designed using the theory of variable structure systems. State variable filters are used in order to obtain differentiator-free controllers. The proposed design allows the error transient to be prescribed in advance.
AMBROSINO, GIUSEPPE, G. Celentano, GAROFALO, FRANCESCO   +2 more
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Direct Adaptive Model Reference Control

1996
Adaptive model reference control applied to linear time invariant systems is one of the mainstream developments in the adaptive control literature. It concerns the imposition of a completely new input-output behavior on the plant: both zeros and poles of the plant’s transfer function are to be changed.
Iven Mareels, Jan Willem Polderman
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ON REDUCED ORDER MODEL REFERENCE ADAPTIVE CONTROL

IFAC Proceedings Volumes, 1991
Abstract This work deals with the relaxation of one |of the basic assumptions in the model reference approach to the adaptive control of unknown linear SISO systems, namely, the assumption concerning the a-priori knowledge of the relative degree. The elimination of such an assumption allows a unified treatment of both the unmodeled dynamic case and ...
G. Bartolini, A. Ferrara
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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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Adjustable model reference adaptive control

1979 18th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes, 1979
An adjustable model reference adaptive control strategy is proposed where both the controller and reference model parameters are adapted. Adaptive control laws for this structure implementing pole cancellation and replacement and avoiding the zero cancellation usually required by model reference adaptive control are developed from self-tuning adaptive ...
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