This paper proposes a multi-model adaptive control (MMAC) algorithm based on Youla-Kucera (YK) theory to deal with heterogeneity in cooperative cruise (CACC) systems. The main idea of MMAC is choose the plant predefined set that best approximates system dynamics, applying corresponding predesigned controller. A linear plants describing different vehicle dynamics defined. Different CACC controll...

Adaptive control refers to the control of systems that have poorly known parameters but a well modeled structure. The adaptive control of linear, time-invariant systems is well understood. However, for systems with multiple inputs and multiple outputs the adaptive controller is of high order and complex making the approach inapplicable in a number of practical problems. In this thesis a new app...

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...

The objective of this study is to design a robust direct model reference adaptive controller (DMRAC) for a nonlinear cardiovascular model over a range of plant parameters representing a variety of physical conditions. The direct adaptive controllers used in thisd study require the plant to be almost strictly positive real (ASPR) that is, for a plant to be controlled there must exist a feedback ...

this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to...