Analysis of adaptive control and model design in adaptive control is discussed in this paper. In the first and second part of the paper, basic tendency in adaptive control is analysed. The main aim of the paper is to design the controlled system model or reference model of the controlled system behaviour. With regards to knowledge in adaptive control fuzzy theory can be used to design the model...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

The control system of the NASA Crew Launch Vehicle is designed to meet performance and robustness requirements during its ascent flight phase. However, the controller bandwidth and the attainable level of robust performance is limited by the degree of flexibility inherent in the long and slender design that has been adopted for this vehicle. Since there remains a substantial degree of uncertain...

The aim of this paper is to design a Fuzzy Logic Controller-based Model Reference Adaptive Controller. It consists of Fuzzy Logic Controller (FLC) along with a conventional Model Reference Adaptive Control (MRAC) scheme. The idea is to control the plant by conventional MRAC with a suitable single reference model, and at the same time control the plant by FLC. In the conventional MRAC scheme, th...

This paper presents a model reference adaptive PD control scheme based on RBF neural network for the greenhouse climate control problem. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is used to validate the proposed control scheme. Compared with the conventional adaptive PD control scheme based on RBF neural netw...

An adaptive position controller is investigated to compensate for the effects of both the actuator and linkage dynamics in a four axis hydraulic robot. A simulation study was done, prior to the experimental implementation, in order to compare and contrast different adaptive control algorithms for this system. The dynamics of the linkage were developed using Lagrangian techniques. The equations ...