In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controlle...

The adaptive filter model of the cerebellar microcircuit has been successfully applied to biological motor control problems, such as the vestibulo-ocular reflex (VOR), and to sensory processing problems, such as the adaptive cancelation of reafferent noise. It has also been successfully applied to problems in robotics, such as adaptive camera stabilization and sensor noise cancelation. In previ...

This work proposes three robust mechanisms based on the MIT rule and sliding-mode techniques. These have to tune gains of an adaptive Proportional-Derivative controller steer a quadrotor in predefined trajectory. The structure is model reference control (MRAC). proposed achieve objective (trajectory tracking) are rule, with sliding mode (MIT-SM), twisting (MIT-Twisting), high order (MIT-HOSM).

Various system parameter variations occur during operations in several existing process industries. These result shifts, thus, requiring adequate control strategies to compensate for these alterations, which consequently maintain desired response. A paradigm is the coupled tank systems; such systems, level and flow of liquid must be adequately controlled reaction equilibrium as well avoid spill...

We introduce a new concept called scalability to adaptive control in this paper. In particular, we analyze how to scale learning rates of adaptive weight update laws of various adaptive control schemes with respect to given command profiles to achieve a predictable closed-loop response. An illustrative numerical example is provided to demonstrate the proposed concept, which emphasize that it ca...

The asymptotic behavior of adaptive systems has been a well researched topic during the last couple of decades, and it is well known that asymptotic tracking can be achieved using the Lyapunov redesign method. However, the transient behavior of the input and output signals can be very oscillatory with significant excursions [1]. There has been a great deal of effort to modify the control archit...

Recent natural or man-made disasters around the world have provided compelling evidence that transportation system plays a crucial role in the emergency evacuation and have stressed the need for effective evacuation traffic management to maximize the utilization of the transportation system and to minimize fatalities and losses. This paper presents a model reference adaptive control (MRAC) fram...

The purpose of this paper is to present and analyze flight test results of a Long Term Learning Adaptive Flight Controller implemented on a rotorcraft and a fixed wing Unmanned Aerial Vehicle. The adaptive control architecture used is based on a proven Model Reference Adaptive Control (MRAC) architecture employing a Neural Network as the adaptive element. The method employed for training the Ne...