It is well known that the transient behaviors of the traditional adaptive control may be very poor in general, and that the adaptive control designed based on switching between multiple models is an intuitively appealing and practically feasible approach to improve the transient performances. This paper proves that for a typical class of linear systems disturbed by white noises, the multiple mo...

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...

This paper proposes a multiple model adaptive control method of wind turbine active power that considers the complexity of the control model, nonlinear and strong coupling. The model is designed to reduce the negative influences of wind turbines in the process of active power control caused by different uncertain factors. We first build the multiple model of turbine operating by using subtracti...

In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of to...

This paper proposes a model reference tracking based adaptive PID controller with adaptive mechanisms in both feedforward and feedback paths. The objective is to force the outputs of a not explicitly known multiple input multiple output (MIMO) linear time-invariant system to track the outputs of a known reference model. A PID controller is inserted to the feedback path. The parameters of the PI...

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

Based on virtual equivalent system concept and methodology, a unified analysis of the stability and convergence of switching multiple model adaptive control (MMAC) of linear time-invariant discrete plant is presented. The main results are expressed by three criteria. Two of them are applicable to switching MMAC systems with arbitrary control strategy, arbitrary parameter estimation algorithm an...

A theoretical method was developed, and experimentally validated, to control the static shape of flexible structures by employing internal translational actuators. A finite element model of the structure, without the actuators present, is employed to obtain the multiple-input, multiple-output control-system gain matrices for actuator-load control as well as actuator-displacement control. The me...

This paper presents a new self-repairing control system (SRCS) for unknown stable multiple-input-multiple-output (MIMO) plants with sensor failures. The proposed method can automatically switch from the faulty sensors to the healthy ones if the sensor failures occur. Only the artificial test signals and the integrators are utilized to detect the sensor failures. Hence, the SRCS requires no math...

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 ...