By using the concept of on-line goal adaptation, we develop a new paradigm of performance shaping in MRAC. The general idea is to replace the single reference model generated trajectory in classical adaptive designwith a tube referencemodel. Two alternative adaptive control schemes that lead to tractable design formulations are developed in which the performance is adapted on-line to satisfy a ...

We propose a new model reference adaptive control algorithm and show that it provides the robust stability of the resulting closed-loop adaptive control system with respect to unmodeled plant uncertainties. The robustness is achieved by using a relative error signal in combination with a dead zone and a projection in the adaptive law. The extra a priori information needed to design the adaptive...

This paper presents a neighborhood based networked predictive adaptive controller that is suitable for control of multivariable systems made of subsystems that interact sequentially and on its demonstration using simulations in a detailed nonlinear model of a water delivery canal. Furthermore some convergence properties of the adaptive algorithm are proved. According to the approach followed, t...

in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

a novel technique is investigated for pid controller adaptation in order to control thetemperature of a liquid-phase reactor tank by using a heat exchanger system. as for nonlinearity,time delay problems and model uncertainties introduced by the heat exchanger, an interval type-2fuzzy system (it2fs) is implemented to enhance and improve the total control performance.moreover, the fuzzy inferenc...

Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...

Memory properties of fractional-order operators are considered for an input-output data model highly uncertain nonlinear systems. The arises by relating the variation output to input; instantaneous gain is computed through a fuzzy inference network, whose consequences adapted online on gradient descent rule. nature proposed relaxes stringent conditions data-driven schemes, allowing changes in s...