Unlike standard Model Reference Adaptive Control (MRAC), Optimal Control Modification (OCM) has been shown to be a promising MRAC modification with robustness and analytical properties not present in other adaptive control methods. This paper presents an analysis of the OCM method, and how the asymptotic property of OCM is useful for analyzing and tuning the controller. We begin with a Lyapunov...

We investigate the performance of a randomized coordination mechanism for resource access in an autonomous decentralized system. Given n users and r resources, each user decides to access a resource with probability a, and each resource is selected with equal likelihood. The goal i s to select a so that mutually conjicting decisions, where multiple users try to access the same resource, are min...

In autonomous decentralized FMS, the number of agents and constant installation position has been studied in previous studies. Therefore, in this study, we are considering to change the position of the warehouse and the number of AGVs to redesign the factory form and evaluate the changes in the production of autonomous decentralized FMS. By being inspired by human mind, we are proposing Minimum...

In this paper a combination of Fuzzy Logic Control (FLC) and Model 1 Reference Adaptive Control (MRAC) will be developed to stabilize and control a 2 fixed-wing unmanned aerial vehicle (UAV). The control must be able to direct the 3 airplane towards different waypoints while at the same time maintaining the UAV 4 stable. Also, the control should be transferable to similar UAV models with little...

This paper presents a unit vector based output-feedback model-reference adaptive control (UV-MRAC) for uncertain multi-input-multi-output (MIMO) linear systems. Some features of this new algorithm are: (i) Less restrictive a priori knowledge about the high frequency gain matrix of the plant is required. (ii) It applies to plants of any uniform relative degree. (iii) The closed loop system is ex...

The chapter presents an approach to control the biped humanoid robot to ambulate through human imitation. For this purpose a human body motion capturing system is developed using tri-axis accelerometers (attached to human legs and torso). The tilt angle patterns information from the human is transformed to control and teach various ambulatory skills for humanoid robot bipedalism. Lyapunov stabi...