This paper proposes a direct adaptive fuzzy-model-based control algorithm. The controller is based on an inverse semi-linguistic fuzzy process model, identified and adapted via inputmatching technique. For the adaptation of the fuzzy model a general learning rule has been developed employing gradient-descent algorithm. The on-line learning ability of the fuzzy model allows the controller to be ...

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...

Direct model reference adaptive control (DMRAC) is an attractive algorithm that uses a linear combination of feedforward model states and command inputs, as well as the error between plant and model outputs; it does not require full state access nor observers. Real world applications are usually subject to limits on the controlled variables for either safety or practical reasons. Because of the...

| Fuzzy adaptive systems may be viewed as a framework for solving the problems of nonlinear system control. In the paper a novel model reference fuzzy adaptive control system is introduced which is based on the fuzzy model of the process. The combination of adaptive control theory based on models obtained by fuzzy basis function expansion results in fuzzy direct model-reference adaptive control...

This paper is concerned with the design of Direct Adaptive Model Based Predictive Control (DAMBPC) using subspace identification technique to identify and implement the controller parameters. The direct identification of controller parameters reduces the design effort and computation load which is usually involved with classical adaptive control techniques. The proposed method requires a single...

To reach an acceptable controller strategy and tuning it is important to state what is considered “good”. To do so one can set up a closed-loop specification or formulate an optimal control problem. It is an interesting question, if the two can be equivalent or not. In this article two controller strategies, model predictive control (MPC) and constrained direct inversion (CDI) are compared in c...

In the paper a fuzzy adaptive control algorithm is presented. It belongs to the class of direct model reference adaptive techniques based on a fuzzy (Takagi–Sugeno) model of the plant. The plant to be controlled is assumed to be nonlinear and predominantly of the 2rst order. Consequently, the resulting adaptive and control laws are very simple and thus interesting for use in practical applicati...

In this paper, the particular solution technique for inverse simulation applied to the quadrotor maneuvering flight is investigated. The ‎trust-region dogleg (DL) technique which is proposed alleviates the weakness of Newton’s method used for numerical differentiation of system states in the solution process. The proposed technique emphasizes global convergence solution to the inverse simulatio...

the control of fluidized-bed operations processes is still one of the major areas of research due to the complexity of the process and the inherent nonlinearity and varying dynamics involved in its operation. there are varieties of problems in chemical engineering that can be formulated as nonlinear programming (nlps). the quality of the developed solution significantly affects the performance ...