Nowadays, the presence of robotics in human-oriented applications demands control paradigms to face partly known, unstructured and time-varying environments. Contact tasks and compliant motion strategies cannot be neglected in this scenario, enabling safe, rewarding and pleasant interactions. Force control, in its various forms, requires special attention, since the task constraints can change ...

Now a days DC drives are being used in versatile variable speed applications in industries. A separately excited DC motor is taken as a plant. The dynamic behaviour of a DC motor varies with the moment of inertia, friction of the load, temperature etc. which are evident from the applications such as rolling mills, wiring machines and tracking telescope. Non-linearities cannot be neglected when ...

We formally verify a direct model-reference adaptive control (MRAC) method that is used to enable flight control in adverse conditions. We use the bounded verification approach and verify the system by introducing templates for both the assumptions and the guarantees, and using QEPCAD to solve the resulting ∃∀ formula.

-Using Generalized Harmonic Analysis, a complete description of parameter convergence in Model Reference Adaptive Control (MRAC) is given in terms of the spectrum of the exogenous reference input signal. Roughly speaking, if the reference signal "contains enough frequencies" then the parameter vector converges to its correct value. If not, it converges to an easily characterizable subspace in p...

UNLABELLED PET/MRI is an emerging dual-modality imaging technology that requires new approaches to PET attenuation correction (AC). We assessed 2 algorithms for whole-body MRI-based AC (MRAC): a basic MR image segmentation algorithm and a method based on atlas registration and pattern recognition (AT&PR). METHODS Eleven patients each underwent a whole-body PET/CT study and a separate multibed...

Citation Izquierdo-Garcia, David, Kevin T Chen, Adam E Hansen, Stefan Förster, Didier Benoit, Sylvia Schachoff, Sebastian Fürst, Daniel B Chonde, and Ciprian Catana. 2014. “New SPM8-based MRAC method for simultaneous PET/MR brain images: comparison with state-of-the-art non-rigid registration methods.” EJNMMI Physics 1 (1): A29. doi:10.1186/2197-7364-1-S1-A29. http://dx.doi.org/10.1186/2197-736...

We formally verify a direct model-reference adaptive control (MRAC) method that is used to enable flight control in adverse conditions. We use the bounded verification approach and verify the system by introducing templates for both the assumptions and the guarantees, and using the tool QEPCAD to solve the resulting exists-forall formula. We also present results from an analysis performed on in...

In this paper, Cascade PI Controller-Based Robust Model Reference Adaptive Control (MRAC) of a DC-DC boost converter is presented. Non-minimum phase behaviour the due to right half plane zero constitutes challenge and its non-linear dynamics complicate control process while operating in continuous conduction mode (CCM). The proposed scheme efficiently resolved complications challenges by using ...

in this paper, the problem of decentralized model reference adaptive control (mrac) for a class of large scale systems with time varying delay in interconnected term and input and state delays is studied. to compensate the effect of input delay indirectly, a smith predictor built on. to handle the effects of the time delays in input, the adaptive controller part includes two auxiliary dynamic f...