The fundamental issues of capability of robust and adaptive control in dealing with uncertainty are investigated in stochastic systems. It is revealed that to capture the intrinsic limitations of adaptive control, it is necessary to use sup types of transient and persistent performance, rather than lim sup types which reflect only asymptotic behavior of a system. For clarity and technical tract...

Content: A logical tool in robust control theory for systems of parametric inhomogeneous linear ODEs.

Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

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 VOLUME is a selection of 28 papers taken from the Fourth Yale Workshop on Applications of Adaptive Systems Theory held in May 1985 at Yale University. The Yale workshops on adaptive control were first organized in 1979. The period 1980-1985 is especially significant in adaptive system theory, for it was during this period of time that the major results in what is now called robust adaptive...

This paper develops an intelligent robust control algorithm for a class of uncertain nonlinear multivariable systems by using a recurrent-cerebellar-modelarticulation-controller (RCMAC) and sliding mode technology. The proposed control algorithm consists of an adaptive RCMAC and a robust controller. The adaptive RCMAC is a main tracking controller utilized to mimic an ideal sliding mode control...

In this article, a new combined adaptive method is used for a two-link robot. One of the advantages of proposed controller is that it does not depend on the exact parameters such as joints weight. Also the controller can reach itself to real parameters. In many applications of robots in industry the weight and moment of inertia are changed intentionally and it would not be an easy task for the ...

A new approach is given for the design of adaptive robust control in the frequency domain. Starting with an initial model of a stable plant and a robust stabilizing controller, the new (windsurfer) approach allows the bandwidth of the closed-loop system to he increased progressively through an iterative controlrelevant system identification and control design procedure. The method deals with bo...

This work presents a direct approximate-adaptive control, using CMAC nonlinear approximators, for an experimental prototype quadrotor helicopter. The method updates adaptive parameters, the CMAC weights, as to achieve both adaptation to unknown payloads and robustness to disturbances. Previously proposed weight-update methods, such as e-modification, provide robustness by simply limiting weight...

in this paper, an adaptive attitude control algorithm is developed based on neural network for a satellite using four reaction wheels in a tetrahedron configuration. then, an attitude control based on feedback linearization control has been designed and uncertainties in the moment of inertia matrix and disturbances torque have been considered. in order to eliminate the effect of these uncertain...