An adaptive robust nonlinear steering controller for ship’s course is developed. Incorporating the Nussbaum-type function gain and adaptive backstepping algorithm, the proposed control strategy requires neither known dynamic parameters of a ship’s model nor any knowledge about environmental disturbances. It is proved that the designed adaptive robust controller of ship steering can guarantee th...

Most AI~,rrvE designs (Astrt~m and Wittenmark, 1989; Goodwin and Sin, 1984; Narendra and Annaswamy, 1989; Sastry and Bodson, 1989) view multiplicative nonlinearities as 'adjustable parameters', in spite of the fact that these 'parameters' participate in highly nonlinear transients. In a drastic departure from the existing adaptive outlook, we introduced a design of adaptive controllers as nonli...

A novel adaptive backstepping design for a class of nonlinearly parameterized systems with a triangular structure is proposed. Under the Lipschitz condition with respect to unknown parameters of the system, an effective adaptive controller is designed without the requirement on the compactness of the unknown parametric set. Especially, the proposed adaptive control enables the advantage of “tun...

This paper presents a Variable Structure Adaptive Backstepping Controller (VS-ABC) for plants with relative degree one, using only input/output measurements. Instead of traditional integral adaptive laws for estimating the plant parameters, switching laws are used to increase robustness to parametric uncertainties and disturbances, as well as, to improve transient response. Moreover, the contro...

In this paper we suggest a new approach to design of the adaptive network safety control mechanisms. This approach is based on the fuzzy logic theory and allows to formalize both quantitative and qualitative parameters of the network safety system. Also it is suggested an algorithm for design of the model for the adaptive network safety control mechanism with safety functional requirements form...

The paper presents a certainty equivalence output feedback backstepping adaptive control design method for the systems of any relative degree with unmatched uncertainties without over-parametrization. It uses a fast prediction model to estimate the unknown parameters, which is independent of the control design. It is shown that the system’s input and output tracking errors can be systematically...

— The inter-die and intra-die variation in process parameters (in particular, threshold voltage (Vt)) result in large number of failures in an SRAM array degrading the design yield. The adaptive repairing techniques, such as adaptive body bias, can be used to improve the design yield. However, to apply adaptive repairing techniques it is necessary to distinguish between the dies from low-Vt pro...

This paper proposes a new sliding mode control (SMC)  based model reference adaptive system (MRAS) for sensorless indirect field oriented control (IFOC) of a single-sided linear induction motor (SLIM). The operation of MRAS speed estimators dramatically depends on adaptation mechanism. Fixed-gain PI controller is conventionally used for this purpose which may fail to estimate the speed correctl...

This paper presents several recently developed techniques for adaptive control of PDE systems. Three different design methods are employed— the Lyapunov design, the passivity-based design, and the swapping design. The basic ideas for each design are introduced through benchmark plants with constant unknown coefficients. It is then shown how to extend the designs to reaction–advection–diffusion ...

In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...