This paper develops a new model reference adaptive control (MRAC) framework using partial-state feedback for solving a multivariable adaptive output tracking problem. The developed MRAC scheme has full capability to d...
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This thesis focuses on model reference adaptive control (MRAC) and its application to a tilt-rotor quadcopter. After formulating two standard MRAC approaches, this thesis proposes a robust modelreferenceadaptive con...
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This thesis focuses on model reference adaptive control (MRAC) and its application to a tilt-rotor quadcopter. After formulating two standard MRAC approaches, this thesis proposes a robust model reference adaptive control law that guarantees satisfactory trajectory following for the nonlinear dynamical system despite parametric, matched, and unmatched uncertainties. This control law is unique for its ability to exploit barrier Lyapunov functions and guarantee user-defined constraints both on the trajectory tracking error and the adaptive gains at all time. The proposed robust control law is then applied to design a control law for a tilt-rotor quadcopter with H-configuration with unknown and unsteady center of mass and matrix of inertia due to the presence of poorly modeled and dangling payloads. The tilt-rotor quadcopter equations of motion are presented and thoroughly analyzed. A novel approach is proposed to model the coupling between the translational and rotational dynamics as matched uncertainties, and a control strategy is developed to overcome the vehicle's underactuation. A tilt-rotor is designed and all of the components are presented and discussed. A challenging experiment where a tilt-rotor quadcopter pulls an unknown cart is performed and the results show the applicability of the proposed theoretical framework.
An adaptivecontrol system with good following characteristics is designed for the electro-hydraulic servo system which is seriously nonlinear. The model of position servo system on flexible nozzle is discussed with t...
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One platform commonly used in modern control systems research is the quadcopter unmanned aerial vehicle (UAV). This platform finds many uses in both civilian and military aviation, such as aerial surveillance and imag...
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One platform commonly used in modern control systems research is the quadcopter unmanned aerial vehicle (UAV). This platform finds many uses in both civilian and military aviation, such as aerial surveillance and imaging, search and rescue operations, and remote sensing. To perform these tasks, it is increasingly common to rely on autonomous UAVs to allow the vehicle to perform desired tasks without an operator. One weakness of the quadcopter UAV is its underactuation, since this vehicle has six degrees of freedom and only four control inputs. To overcome this complexity, it is proposed to actuate the vehicle propellers, creating a tiltrotor vehicle, in this thesis of the H-configuration. To this end, the equations of motion of the vehicle will be established, and an original robust model reference adaptive control law will be formulated to control the vehicle in the presence of disturbances. Another current goal in UAV research is in providing a method for the vehicle to manipulate its environment. In this thesis, a two-link robotic manipulator mounted on a cylindrical hinge will be used. This manipulator will have its own trajectory generation and control formulation for its end-effector, after which it will be mounted to the H-configuration tiltrotor. This combined aerial manipulator will be numerically simulated with the manipulator and tiltrotor control laws running simultaneously, demonstrating the feasibility of the combined system.
The recent day’s chemical processes are widely used in industrial applications. These chemical processes are nonlinear in nature. This nonlinearity can cause instability in process. In this paper, different types of ...
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This work study proposes the implementation of a fractional order model reference adaptive control (FOMRAC) design for a doubly fed induction generator (DFIG) control of active and reactive power in wind energy system...
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The speed control of Direct Current (DC) motor is one of the widely used industrial control due its specific characteristics. This paper discusses about the application of MRAC using Lyapunov rule and modelreference ...
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This paper introduces a model reference adaptive control (MRAC) algorithm where the referencemodel corresponds to a Duffing oscillator. The goal of the controller is to induce a chaotic behavior in a servodrive. An i...
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The power system is inherently a complex nonlinear system and experiences continuous changes in operating conditions due to sudden variations in load demand. The increasing integration of renewable power sources in cu...
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NASA Technical Reports Server (Ntrs) 20120016810: adaptivecontrol with referencemodel Modification by NASA Technical Reports Server (Ntrs); NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 20120016810: adaptivecontrol with referencemodel Modification by NASA Technical Reports Server (Ntrs); NASA Technical Reports Server (Ntrs); published by
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