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...

In this paper, the domain of automotive safety is addressed. A specific application, i.e., autonomous, intelligent cruise controller, is selected. Model-based techniques which facilitate implementation independent specification and design of such a system are discussed. A set of systems requirements, the underlying object and behavioral models are given. In conclusion, postulates are discussed ...

The vehicle longitudinal control algorithm is the core function of adaptive cruise system, whose main task to convert acceleration and deceleration requirements into driving braking commands so that can quickly accurately track desired acceleration. Traditional algorithms rely on accurate dynamic modeling or complex controller parameter calibrations. To overcome those difficulties, a based RBF-...

Power system stabilizers have been widely used and successfully implemented for the improvement of power system damping. However, a fixed parameter power system stabilizer tends to be sensitive to variations in generator dynamics so that, for operating conditions away from those used for design, the effectiveness of the stabilizer can be greatly impaired. With the advent of microprocessor techn...

In this paper, we demonstrate the capability of mass, a real-time design language, for large systems speciication. The paper presents a hierarchical speciication of an automatic cruise controller that evolves through stepwise reenement. In particular, we show modular design, the separation of the functional and reactive concerns, and the succinct and intuitive nature of speciications in mass.

This paper addresses the design procedure of a fuzzy logic-based adaptive approach for DFIGs to enhance automatic generation control (AGC) capabilities and provide better dynamic responses in multi-area power systems. In doing so, a proportional-integral (PI) controller is employed in DFIG structure to control the governor speed of wind turbine. At the first stage, the adjustable parameters of ...

in this paper, a new robust controller based on geometric homogeneity and adaptive integral sliding mode is proposed for a class of second order systems. the upper bound of the system disturbances is not required. fully unknown parameters have been considered in the described model and its finite–time convergence to zero equilibrium point is proved. moreover, the controller is developed in the ...

this paper introduces a technique for controlling a class of uncertain chaotic systems using an adaptive fuzzy proportional-integrator-derivative (pid) controller with h∞ tracking performance. the purpose of this work is to achieve optimal tracking performance of the controller using backtracking search algorithm (bsa). bsa, which is a novel heuristic algorithm, has an easy structure with singl...

This paper proposes a switching adaptive control for trajectory tracking of unmanned aircraft systems. The switching adaptive control method is designed to overcome the wind disturbance and achieve a proper tracking performance for control systems. In the suggested system, the wind disturbance is regarded as a finite set of uncertainties; a controller is designed for each uncertainty, and a per...