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Showing 1 to 20 of 45 for “"MRAC"”.
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Model reference adaptive control for one dof hand rehabilitation robot
… develop the Model Reference Adaptive Control (MRAC) using one of adaptive mechanism that is Lyapunov Method. The MRAC with Lyapunov method is used in order to obtain good controller for position control of DC motor and able to cope with variations handgrip stiffness of stroke patients using …
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Design and Simulation of a Model Reference Adaptive Control System Employing Reproducing Kernel Hilbert Space for Enhanced Flight Control of a Quadcopter
… into the model reference adaptive control (MRAC) framework to enhance the control systems of quadcopters. Traditional MRAC systems, while robust under predictable conditions, can struggle with the dynamic uncertainties typical in unmanned aerial vehicle (UAV) operations such as wind gusts …
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A design procedure for model reference adaptive control
… control; model reference adaptive control (MRAC); and MRAC using a fixed feedback gain. We use a second order, single-input single-output (SISO) plant to examine the performance and stability of each method. This evaluation spans a broad range of design goals and uncertainty in models of the …
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Dynamic Braking Control for Accurate Train Braking Distance Estimation under Different Operating Conditions
… application of Model Reference Adaptive Control (MRAC) for train dynamic braking is investigated in order to control dynamic braking forces while remaining within the allowable adhesion and coupler forces. This control method can accurately determine the train braking distance. One of the critical …
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Adaptive Control of Systems Represented by Partial Differential Equations and Its Application to Networks of Multiagents
Requirement of only local information of the MRAC laws is utilized to extend the control laws developed to MRAC of networks of multiagents. Capability to handle spatially varying parameters means that agents can be heterogeneous. Disturbance rejection scheme is also presented for certain classes of …
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Indirect Model Reference Adaptive Control with Online Parameter Estimation
… an Indirect Model Reference Adaptive Controller (MRAC) to provide online, adaptive estimates of uncertain aerodynamic coefficients, which are in turn used in the MRAC to enable an aircraft to track reference trajectories. The performance of the adaptive parameter estimator is compared to that of …
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Data-Driven, Non-Parametric Model Reference Adaptive Control Methods for Autonomous Underwater Vehicles
… I apply two model reference adaptive control (MRAC) algorithms which make use of kernel functions for learning functional uncertainty present in the system dynamics. The first method extends recent results on model reference adaptive control using reproducing kernel Hilbert space (RKHS) …
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Investigation into iterative feedback control
… the well known Model Reference Adaptive Control (MRAC) method application that uses the gradient approach to its adaption. The equations for the MRAC gradient approach method are presented and applied to a DC motor for a speed control. The purpose of this application was to investigate how the …
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Enhancement of lateral stability of car-trailer systems using model-reference adaptive control
… Model Reference Adaptive Controller (MRAC) for an active trailer steering system to enhance the lateral stability of CT systems considering parametric uncertainties and unknown dynamics of the actuator. To this end, a reference model is designed using a 3-DOF (degrees of freedom) …
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On the Stability and Robustness of Discrete Uncertain Systems
<p>Model reference adaptive control (MRAC) is a well-established control design framework for ensuring closed-loop system stability and reference tracking performance in dynamical systems with uncertainties. Nominal, fixed-gain controllers rely on accurate mathematical models to guarantee desired …
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Stability Limits of Uncertain Systems in the Presence of Unmatched Coupled Dynamics and Actuator Dynamics with Adaptive Architectures
… standard model reference adaptive control (MRAC) architectures. We then proposed two architectures: modified hedging reference modeled based MRAC and modified expanded reference model based MRAC. In order to deal with coupled dynamics, we used an observer design to estimate the states of …
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Design and implementation of a novel lightweight soft upper limb exoskeleton using pneumatic actuator muscles
… the design. Model reference adaptive control (MRAC) to control the arm using (Proportional, Integral, and Derivative) PID controller as an input for MRAC. Neural Network (NN) is also used in MRAC to improve the performance of MRAC.
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Analytical and experimental study of control effort associated with model reference adaptive control
… of Model Reference Adaptive Control - (MRAC) is studied in numerical simulations and verified experimentally, to understand how differences between the plant and the reference model affect the control effort. MRAC is applied analytically and experimentally to a single-degree-of-freedom …
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Advanced Control Design of an Autonomous Line Painting Robot
… PI controller. Model Reference Adaptive Control (MRAC) was introduced into this thesis to deal with the uncertainties of the system. At last, the hybrid PI-MRAC controller was implemented to maintain the advantages of both PI and MRAC approaches. Experiments were conducted to evaluate the …
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Routing and Control of Unmanned Aerial Vehicles for Performing Contact-Based Tasks
… (VRP) and model reference adaptive control (MRAC) for unknown nonlinear systems. The VRP and its extension, the split delivery VRP (SVRP), are analyzed to determine the effects of using two different objective functions, the total cost objective, and the last delivery objective. A worst-case …
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Design of a decentralized model reference adaptive controller for a mobile robot
… model reference adaptive controller (MRAC) was designed for a four-degree-of-freedom mobile robot. The performance of the decentralized MRAC controller was compared to that of a constant gain state feedback controller. The decentralized MRAC control strategy proved to be an efficient …
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Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle
… and evaluated. Out of the three, the indirect MRAC backstepping controller is deemed unsuitable due to its limitations with handling unknown parameter structure. The direct MRAC backstepping is deemed suitable and therefore simulated and implemented on the vehicle. The newly derived controller …
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Development of a vehicle robotic driver with intelligent control system modelling for automated standard driving-cycle tests
… Fuzzy model reference adaptive control (Fuzzy MRAC) as the main controller. The vehicle model was developed using black-box modelling approach where simulations are performed based on real-time data and processed using Matlab System Identification tool. The Fuzzy MRAC was then designed within …
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Adaptive Control of an Aeroelastic System for Active Flutter Suppression and Disturbance Rejection
… <p>Direct model reference adaptive control (MRAC) strategies are then implemented on the two- and three-dimensional aeroelastic systems, and the performance is compared to that obtained using a standard linear quadratic regulator (LQR). The simulation studies demonstrate that MRAC provides …
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