RBF Network Based Nonlinear Model Reference Adaptive PD Controller Design for Greenhouse Climate*

2011 ◽  
Vol 3 (9) ◽  
pp. 357-366
Author(s):  
HaiGen Hu ◽  
LiHong Xu ◽  
RuiHua Wei ◽  
BingKun Zhu
Keyword(s):  
Nonlinear Model ◽  
Controller Design ◽  
Pd Controller ◽  
Model Reference ◽  
Rbf Network ◽  
Greenhouse Climate ◽  
Model Reference Adaptive

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.

Sign in / Sign up

Export Citation Format

Share Document