Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 96 for “"model reference"”.
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Digital model reference aircraft control
A digital model reference scheme is presented for the control of the longitudinal modes of an EBF-STOL aircraft. The method used is based on Liapunov's direct method and is used to update feedback and feedthrough matrices. An equilibrium point of the EBF-STOL is chosen about which to constrain …
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Fuzzy Model Reference Learning Control for Smart Lights
… the experimental testbed to a desired voltage reference value, and to test the performance of the fuzzy controllers under cross-illumination effects, and bulb and sensor failures. As an initial approach, a decentralized (i.e., no communication between controllers) nonadaptive fuzzy controller …
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Flight evaluation of deep model reference adaptive control
… architecture: Deep Neural Network based Model Reference Adaptive Control (DMRAC). This architecture utilizes the power of deep neural network representations for modeling significant nonlinearities while marrying it with the boundedness guarantees that characterize MRAC based controllers. …
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A design procedure for model reference adaptive control
… the command generator tracker (CGT) approach to model reference 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 …
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Indirect Model Reference Adaptive Control with Online Parameter Estimation
… that have considerable uncertainty in the model parameters, as might be the case with unmanned aerial vehicles (UAVs). This thesis investigates the use of an Indirect Model Reference Adaptive Controller (MRAC) to provide online, adaptive estimates of uncertain aerodynamic coefficients, …
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Model reference control for ultra-high precision positioning systems
… piezoelectric positioner alone. The dynamic models of the dual solenoid actuator and piezoelectric nanopositioner are derived. The main challenge of designing such positioning systems is to maintain the accuracy and stability in the presence of un-modeled dynamics, plant variations, and …
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Stability and Multi-Models in Model Reference Adaptive Systems
Made available in DSpace on 2014-12-12T20:54:25Z (GMT). No. of bitstreams: 1 7708929.pdf: 4468392 bytes, checksum: df5df0e36ac5c22157f5ad8c3a005a00 (MD5) Previous issue date: 1976
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Model reference adaptive control for one dof hand rehabilitation robot
… this project will designed and 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 …
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Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle
… the behavior of a bio-inspired predator prey model is considered to stimulate a more organic response to obstacles and a moving target than existing algorithms. However, the current predator prey model has a disconnect between the desired velocities commanded and the torque signals provided to …
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Robustness of Model Reference Adaptive Schemes With Respect to Modeling Errors
The robustness of model reference adaptive schemes with respect to unmodeled parasitics is analyzed. Bounds on parameter and state errors are established for identifiers and adaptive observers. In the case of adaptive control, algorithms are modified to guarantee boundedness. Decentralized adaptive …
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Teleoperation of passivity-based model reference robust control over the internet
… environment for use in Passivity-Based Model Reference Robust Control systems with delays. The controller which is used as a carrier to support a robust communication between input-to-state stability is designed as a control strategy that passively compensates for position errors that …
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Adaptive loop sensitivity characteristics for a model reference adaptive control system
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1961.
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Model reference adaptive control systems using a dead zone non-linearity
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1985.
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Design of a decentralized model reference adaptive controller for a mobile robot
… simultaneously. In this study, a decentralized 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 …
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Enhancement of lateral stability of car-trailer systems using model-reference adaptive control
… thesis is to design a Lyapunov-Stability-based 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 …
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Analytical and experimental study of control effort associated with model reference adaptive control
… Large Space Structures (LSS). Our inability to model these LSS accurately has generated extensive research into robust controllers capable of maintaining stability in the presence of large structural uncertainties as well as changing structural characteristics. In this work the performance of …
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Experimental Testing of a Decentralized Model Reference Adaptive Controller for a Mobile Robot
… by Horner to design and test a decentralized model reference adaptive controller (DMRAC) for a physical four-degree-of-freedom mobile robot. The study revealed several difficulties in implementing this design. Most notably, the robot available for the research did not allow for the measurement …
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Data-Driven, Non-Parametric Model Reference Adaptive Control Methods for Autonomous Underwater Vehicles
… from the standard six degree-of-freedom dynamic model. 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 …
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Speed sensorless field oriented control of ac induction motor using model reference adaptive system
… as a feedback for the vector control system. The model reference adaptive control system is predicated on the comparison between the outputs of adjustable model and reference model. The error between them is employed to drive a suitable adaptation mechanism which generates the estimated rotor …
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