scholarly journals Nonlinear model reference adaptive control

1986 ◽  
Vol 28 (2) ◽  
pp. 147-157 ◽  
Author(s):  
J. M. Skowronski
Keyword(s):  
Adaptive Control ◽  
Nonlinear Model ◽  
Degrees Of Freedom ◽  
Control Program ◽  
Model Reference Adaptive Control ◽  
Design Technique ◽  
Model Reference ◽  
State Spaces ◽  
Adaptive Law ◽  
Model Reference Adaptive

AbstractThe known linear model reference adaptive control (MRAC) technique is extended to cover nonlinear and nonlinearizable systems (several equilibria, etc) and used to stabilize the system about a model. The method proposed applies the same Liapunov Design Technique but avoids the classical error equation. Instead it operates in the product of the state spaces of plant and model, aiming at convergence to a diagonal set. Control program, Liapunov functions and adaptive law are specified. The case is illustrated on a two-degrees of freedom robotic manipulator.

A New Impedance Controller Based on Nonlinear Model Reference Adaptive Control for Exoskeleton Systems

2019 ◽  
Vol 16 (05) ◽  
pp. 1950020
Author(s):  
Kai Gui ◽  
U-Xuan Tan ◽  
Honghai Liu ◽  
Dingguo Zhang
Keyword(s):  
Adaptive Control ◽  
Nonlinear Model ◽  
Mechanical Impedance ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
High Compliance ◽  
Adaptive Law ◽  
Simulation And Experiment ◽  
Novel Method ◽  
Model Reference Adaptive

Robotic exoskeletons are expected to show high compliance and low impedance for human–robot interactions (HRIs). Our study introduces a novel method based on nonlinear model reference adaptive control (MRAC) to reduce the inherent impedance and replace the traditional impedance controller in HRIs. The control law and adaptive law are designed according to a candidate Lyapunov function. A simple system identification and initialization method for the nonlinear MRAC is put forward, which provides a set of better initial values for the controller. From the results of simulation and experiment, our controller can reduce the mechanical impedance and achieve high compliance for HRI. The adaptive control and compliance control can be both achieved by the proposed nonlinear MRAC framework.

Model Reference Adaptive Control of Feed Force in Turning

1986 ◽  
Vol 108 (3) ◽  
pp. 215-222 ◽  
Author(s):  
L. K. Daneshmend ◽  
H. A. Pak
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Numerical Control ◽  
Control Input ◽  
Design Technique ◽  
Model Reference ◽  
Single Input Single Output ◽  
Single Output ◽  
Feed Force ◽  
Model Reference Adaptive

This paper applies the discrete-time single-input/single-output Model Reference Adaptive Control (MRAC) design technique of Landau and Lozano to the problem of regulating feed force on a lathe under varying cutting conditions. A first-order model is used to represent the relationship between feed force and the control input (feedrate). The MRAC scheme is implemented on a multi-microprocessor based computer-numerical-control system. Results of applying various algorithms derived from the MRAC design technique are presented.

scholarly journals Modeling and controlling of quadrotor aerial vehicle equipped with a gripper

2019 ◽  
Vol 52 (5-6) ◽  
pp. 577-587 ◽  
Author(s):  
Zain Anwar Ali ◽  
Xinde Li
Keyword(s):  
Adaptive Control ◽  
Unmanned Aerial Vehicle ◽  
Degrees Of Freedom ◽  
Control Structure ◽  
Arm Movement ◽  
Transient Behavior ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Aerial Vehicle ◽  
Model Reference Adaptive

Arm mounted unmanned aerial vehicles provide more feasible and attractive solution to manipulate objects in remote areas where access to arm mounted ground vehicles is not possible. In this research, an under-actuated quadrotor unmanned aerial vehicle model equipped with gripper is utilized to grab objects from inaccessible locations. A dual control structure is proposed for controlling and stabilization of the moving unmanned aerial vehicle along with the motions of the gripper. The control structure consists of model reference adaptive control augmented with an optimal baseline controller. Although model reference adaptive control deals with the uncertainties as well as attitude controlling of unmanned aerial vehicle, baseline controller is utilized to control the gripper, remove unwanted constant errors and disturbances during arm movement. The proposed control structure is applied in 6-degree-of-freedom nonlinear model of a quadrotor unmanned aerial vehicle equipped with gripper having (2 degrees of freedom) robotic limb; it is applicable for the simulations to desired path of unmanned aerial vehicle and to grasp object. Moreover, the efficiency of the presented control structure is compared with optimal baseline controller. It is observed that the proposed control algorithm has good transient behavior, better robustness in the presence of continuous uncertainties and gripper movement involved in the model of unmanned aerial vehicle.

Sign in / Sign up

Export Citation Format

Share Document