Overview of Model Free Adaptive (MFA) Control Technology

Model Free Adaptive Control

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100 Integer Multiplication with Over ow Detection or Saturation Michael J. Schulte, Pablo I. Balzola, Ahmet Akkas, and Robert W. Brocato Abstract|High-speed multiplication is frequently used in general-purpose and application-speci c computer systems. These systems often support integer multiplication, where two n-bit integers are multiplied to produce a 2n-bit product. To prevent growth in wor...

Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

Derivative-Free Model Reference Adaptive Control

Aderivative-free, delayedweight update law is developed formodel reference adaptive control of continuous-time uncertain systems, without assuming the existence of constant ideal weights. Using a Lyapunov–Krasovskii functional it is proven that the error dynamics are uniformly ultimately bounded, without the need for modification terms in the adaptive law. Estimates for the ultimate bound and t...

An Overview of Industrial Model Predictive Control Technology

This paper provides an overview of commercially available Model Predictive Control (MPC) technology, based primarily on data provided by MPC vendors. A brief history of industrial MPC technology is presented rst, followed by results of our vendor survey of MPC control and identiication technology. A general MPC control algorithm is presented, and approaches taken by each vendor for the diierent...