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 55 for “"model reference adaptive control"”.
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Flight evaluation of deep model reference adaptive control
… presents flight test results for a new neuroadaptive 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 …
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A design procedure for model reference adaptive control
… study, we assess the robustness of four distinct control approaches: pole placement; 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) …
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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 adaptive control for one dof hand rehabilitation robot
This project presents one type of adaptive control technique to control the position of Direct Current (DC) motor for one-DOF rehabilitation robot. A DC motor is generally act as actuator in one-DOF rehabilitation robot and usually the robots are developed without gearing or reducer to make them …
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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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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
… decade, researchers have shown much interest in control and identification of 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 …
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Data-Driven, Non-Parametric Model Reference Adaptive Control Methods for Autonomous Underwater Vehicles
This thesis details the implementation of two adaptive controllers on autonomous underwater vehicle(AUV) attitude dynamics starting 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 …
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Adapt-to-learn policy transfer in reinforcement learning and deep model reference adaptive control
… has been an important direction of research in control as Adaptive Controllers. However, the Adaptive Controllers like Model Reference Adaptive Controller are mainly model-based controllers and do not rely on exploration instead make informed decisions exploiting the model's structure. Therefore …
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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
… kernel Hilbert spaces (RKHSs) 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 …
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Vibrational and adaptive control of a class of distributed parameter systems described by parabolic partial differential equations
Two nonclassical control techniques, vibrational control and direct model reference adaptive control, for a class of distributed parameter systems described by parabolic partial differential equations (PDE's) are discussed.
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Adaptive Control of an Aeroelastic System for Active Flutter Suppression and Disturbance Rejection
… This motivates the implementation of advanced control methods to control aeroelastic systems over a range of flight conditions, suppress and delay the onset of flutter, and compensate for disturbances, actuator dynamics, and unmodeled nonlinear dynamics.</p> <p>This dissertation first develops …
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Adaptive Controller Development and Evaluation for a 6DOF Controllable Multirotor
… of freedom, 6DOF, motion). The development of controllers for various 6DOF controllable multirotors has been much more limited than development for quadrotors, which makes selecting a controller for a 6DOF multirotor difficult. The omnicopter is subject to various uncertainties and disturbances …
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Reduced-order adaptive control
… (PLID) is developed for application in an adaptive control loop. The effects of noise are investigated for the case of full-order system identification, and the results are applied to the use of PLID as a reduced-order system estimator. A self-tuning regulator (STR) is constructed using …
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Sensitivity methods and slow adaptation
In many existing model reference adaptive control (MRAC) schemes, the plant order and relative degree are assumed known. Then a full-order control parameterization is specified which allows for an exact transfer function match between the closed-loop plant and a reference model. Often for plants of …
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Adaptive Control Applied to the Cal Poly Spacecraft Attitude Dynamics Simulator
… Simulator to provide proof of concept of two adaptive control theories developed by former Cal Poly students: Nonlinear Direct Model Reference Adaptive Control and Adaptive Output Feedback Control. The Spacecraft Attitude Dynamics Simulator is a student-built air bearing spacecraft simulator …
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Adaptive Control of Micro Air Vehicles
Although PID controllers work well on Miniature Air Vehicles (MAVs), they require tuning for each MAV. Also, they quickly lose performance in the presence of actuator failures or changes in the MAV dynamics. Adaptive control algorithms that self tune to each MAV and compensate for changes in the …
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Graduated Persistent Excitation and steady state margins for adaptive systems
… design tools developed for use with linear controllers, specifically gain and phase margins, do not apply to nonlinear control architectures such as model reference adaptive control. The first step for the development of Verification and Validation (V&V) techniques for this class of …
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