s--By making the controller adaptive, ideal performance and granted stability of the closed loop system can be achieved for even a large change in system parameters. In the present study, adaptive controllers based on minimum variance, pole placement and linear quadratic techniques are investigated. The controller based on minimum variance is noise sensitive and actuator voltage changes sign af...

A robust hybrid control method for robot manipulators is proposed which integrates an Ha controller and an adaptive controller. The Ha controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated f...

This paper presents a novel Iterative Learning Control (ILC) scheme for linear systems in the presence of parametric uncertainty. The developed ILC architecture is comprised of an L1 adaptive feedback controller combined with an ILC feedforward controller. The learning controller is designed to compensate for repetitive system uncertainties, while the adaptive controller compensates for non-rep...

Torque ripple minimization of switched reluctance motor drives is a major subject based on these drives’ extensive use in the industry. In this paper, by using a well-known cascaded torque control structure and taking the machine physical structure characteristics into account, the proposed energy-based (passivity-based) adaptive sliding algorithm derived from the view point of energy dissipati...

This paper fully discusses how to design an observer based decentralized fuzzy adaptive controller for a class of large scale multivariable non-canonical nonlinear systems with unknown functions of subsystems’ states. On-line tuning mechanisms to adjust both the parameters of the direct adaptive controller and observer that guarantee the ultimately boundedness of both the tracking error and tha...

A multi objective Honey Bee Mating Optimization (HBMO) designed by online learning mechanism is proposed in this paper to optimize the double Fuzzy-Lead-Lag (FLL) stabilizer parameters in order to improve low-frequency oscillations in a multi machine power system. The proposed double FLL stabilizer consists of a low pass filter and two fuzzy logic controllers whose parameters can be set by the ...

This paper presents an adaptive variable structure controller with on-line identification of the upper bounds of uncertainties and disturbance for MEMS triaxial angular sensors device that is able to detect rotation in three orthogonal axes, using a single vibrating mass. A robust adaptive sliding mode controller is developed and the stability of the closed-loop system can be guaranteed with th...

An intelligent hybrid control scheme, using an adaptive recurrent cerebellar model articulation controller (CMAC), is developed for a class of nonlinear dynamical systems. In this control system, an adaptive recurrent CMAC is used as the main tracking controller which mimics a perfect control law, and a compensated controller is designed to compensate for the difference between the perfect cont...

pH control is a challenging problem due to its highly nonlinear nature. In this paper the performances of two different adaptive global linearizing controllers (GLC) are compared. Least squares technique has been used for identifying the titration curve. The first controller is a standard GLC based on material balances of each species. For implementation of this controller a nonlinear state...