This paper presents a model reference adaptive control (MRAC) scheme for trajectory tracking of a nonholonomic wheeled mobile robot (WMR) in presence of parametric uncertainty in its dynamic model. The control scheme ...
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In this paper, an indirect model reference adaptive control (MRAC) scheme is presented for a class of input-output linearizable nonlinear minimum phase plants. It is shown that the proposed indirect MRAC system is sta...
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In the design of model reference adaptive control (MRAC) schemes, adaptive laws have been developed based on Lyapunov stability theory. Over the past few decades it has been a common practice to use Quadratic Lyapunov...
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ISBN:
(纸本)9780863418273
In the design of model reference adaptive control (MRAC) schemes, adaptive laws have been developed based on Lyapunov stability theory. Over the past few decades it has been a common practice to use Quadratic Lyapunov Functions (QLF) and recently, in a similar spirit, Non-Quadratic Lyapunov Functions (NQLF) have been used. This paper, using a new Lyapunov Function based on both QLF and NQLF, presents new adaptive laws for MRAC. These new laws have been shown to overcome the drawbacks of the laws based on either QLF or NQLF alone. Finally, this paper also presents simulation results supporting the arguments.
This paper investigates the trajectory tracking control for a Human Support Robot (HSR) considering omniwheel touchdown characteristic. A novel modelreferenceadaptive law is designed to account for the omniwheel tou...
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This paper proposes the model reference adaptive control (MRAC) design for the CubeSat 1U prototype with a magnetorquer to control the yaw angle. In practice, the system dynamics parameters of the CubeSat 1U, such as ...
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This paper presents a novel model reference adaptive control (MRAC) of five-phase interior permanent magnet (IPM) motor drives. The primary controller is designed based on artificial neural network (ANN) to simulate t...
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The presence of state and control constraints in physi cal systems may lead to performance deterioration and instability if not adequately accounted for in controller design processes. Therefore, a procedure of state ...
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ISBN:
(纸本)9780889868632
The presence of state and control constraints in physi cal systems may lead to performance deterioration and instability if not adequately accounted for in controller design processes. Therefore, a procedure of state and control constraint fulfillment for uncertain linear systems, which firstly require an adaptivecontroller, is proposed. model reference adaptive control (MRAC) Method is selected to design the controller, and Lyapunov stability theory is used to obtained adaptive laws. To solve the constraint fulfillment problem, a concept of maximal output admissible set [8], [11] is utilized to predict safe operation of the plant. Constraint fulfill ment procedure is described as polynomial optimization problems, and a numerical design example is carried out to support the arguments.
This paper presents an application of model reference adaptive control (MRAC) to a quadrotor unmanned aerial vehicle (UAV). After a review of the fundamental MRAC theoretical results, a detailed nonlinear model of the...
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This article focuses on the issue of model reference adaptive control (MRAC) for first-order linear time-invariant systems (LTIS) with output constraints and unknown gain sign. The completely unknown control coefficie...
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The study considers model reference adaptive control for a single-input, single-output discrete-time system using an idea of the virtual reference feedback tuning (VRFT). The standard VRFT resolves a modelreference c...
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