This paper presents the comparison of applying an adaptive fuzzy controller with and without a variable structure controller (VSC) for a synchronous machine. A simplified linear model of the synchronous machine connected to an infinite bus with constant impedance is used. The multivariable system was previously decoupled to make easier the application of the control schemes. To control the syst...

The aim is to develop vibration control of flexible spacecraft by adaptive controller. A case study will be carried out which simulates planar motion of flexible spacecraft as a coupled hybrid dynamics of rigid body motion and the flexible arm vibration. The notch filter and adaptive vibration controller, which updates filter and controller parameters continuously from the sensor measurement, a...

The DC-DC power converters are widely used; however, the controller design for the DC-DC power converters cannot easily design if the load dynamics vary widely. This paper proposes an adaptive wavelet neural control (AWNC) system for a forward DC-DC power converter. The proposed AWNC system is composed of a neural controller and a robust controller. The neural controller uses a wavelet neural n...

In this paper, adaptive control of a class of nonlinear discrete time dynamical systems with boundedness of all signals is established by using a linear robust adaptive controller and a neural network based nonlinear adaptive controller, and switching between them by a suitably defined switching law. The linear controller, when used alone, assures boundedness of all the signals but not satisfac...

This paper describes the design and implementation of a model-reference adaptive motion controller for a diflerential-drive mobile robot. This controller uses absolute position information to modify control parameters in real time to compensate for motion errors. Robot motion errors are classified into internal and external errors. Cross-coupling control method is used to compensate for the int...

A hybrid adaptive tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators is designed. The controller is hybrid in the sense that an adaptive indirect controller is used to compensate for parametric uncertainties in the rigid-link equation whereas an adaptive robust controller corrects for the dynamics (i.e. mechanical flexibilities) and parametric uncertainty associated wit...

In this paper, a novel method based on a combination of Extended Kalman Filter (EKF) with Self-adaptive Differential Evolution (SaDE) algorithm to estimate rotor position, speed and machine states for a Permanent Magnet Synchronous Motor (PMSM) is proposed. In the proposed method, as a first step SaDE algorithm is used to tune the noise covariance matrices of state noise and measurement noise i...

This paper describes the fuzzy model reference adaptive controller design for nonlinear system based on TSK model. The stability of closed-loop system can be assured by Lyapunov function and the adaptive law is developed. The parameters of the controller can be regulated by the adaptive rules and the control scheme is applied on the automatic gauge control system and spherical motor system as t...

|This paper addresses the problem of achieving exact dynamic hybrid force/position control with multidimensional manipulators possessing the low level position controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive hybrid force/position control algorithm for position controlled robot arms in contact with surf...