Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators with colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference a...

This paper presents the dynamic performances of an indirect vector controlled induction motor (IVCIM) using a fuzzy logic (FL) based model reference adaptive control (MRAC) slip gain tuner for speed regulation in the drive. In high performance AC drives the motor speed should closely match with the specified reference speed irrespective of the variations in the load, motor parameters and model ...

The paper presents performance and robustness analysis of the modified reference model MRAC (model reference adaptive control) or M-MRAC in short, which differs from the conventional MRAC systems by feeding back the tracking error to the reference model. The tracking error feedback gain in concert with the adaptation rate provides an additional capability to regulate not only the transient perf...

In this paper, we propose a model reference adaptive control (MRAC) strategy for continuous-time singleinput single-output (SISO) linear time-invariant (LTI) systems with unknown parameters, performing repetitive tasks. This is achieved through the introduction of a discrete-type parametric adaptation law in the ‘iteration domain’, which is directly obtained from the continuous-time parametric ...

The machining quality on computerized numerically controlled (CNC) machine tools is sensitive to the machining parameters. With modern machine tools, an operator still manually adjusts controlling parameters, such as feed rate and cutting speed. The adjusted values mainly depend on operator experience and knowledge. Standard machining catalogues and commercial cutting condition prediction softw...

This paper presents a comparison of two different adaptive control schemes for improving the performance of a hybrid wind-diesel power system in an islanded microgrid configuration against the baseline controller, IEEE type 1 automatic voltage regulator (AVR). The first scheme uses a model reference adaptive controller (MRAC) with a proportional-integral-derivative (PID) controller tuned by a g...

This paper considers the control problem of switched linear systems with unknown parameters and unknown switching signals. For the considered system, robust model reference adaptive control (MRAC) approach can only guarantee error boundedness under an average dwell time (ADT) condition which is implicit and is difficult to estimate. We propose a variable structure (VS) based adaptive control wi...

Abstrac t— This paper propose an Model Reference Adaptive Control (MRAC) for mobile robots for which stability conditions and performance evaluation are given. The proposed control structure combines a feedback linearization model, based on a kinematics nominal model, and a direct neural network-based adaptive dynamics control. The architecture of the dynamic control is based on radial basis fu...

In this article, a robust nonlinear model reference adaptive control (MRAC) is proposed for disturbed linear systems, i.e., systems with parameter uncertainties, and external time-dependent perturbations or unmodeled dynamics matched the input. The law composed of two gains. Such gains allow to counteract effects some ensuring asymptotic convergence tracking error zero, boundedness controller s...