Abstract:Abstract-Model Reference Adaptive Controllers (MRAC) have dual functionality: besides guaranteeing precise trajectory tracking of the controlled system, they have to provide an "external control loop" with the illusion that it controls a physical system of prescribed dynamic properties, i.e., the "reference system". The MRACs are designed traditionally by Lyapunov's 2 nd method that is mathematically complicated, requiring strong skills from the designer. Adaptive controllers alternatively designed by the use … Show more
“…In [42] essentially the same method was introduced in the design of a novel type of MRAC controllers the applicability of which was investigated by simulations for the control of various systems (e.g. [43][44][45][46]). Observing the fact that in the classical, Lyapunov function-based solutions as the AID and SLAC controllers the parameter tuning rule obtained from the Lyapunov function has a simple geometric interpretation that is independent of the Lyapunov function itself, the FPI-based solution was combined with the tuning rule of the original solutions used for learning the "exact dynamic parameters" of the controlled system.…”
Section: Robotics and Automation Engineering Journalmentioning
The traditional approaches in controller design for strongly nonlinear systems are based on the PhD thesis by Lyapunov [23] that later was translated to Western languages (e.g. [24]).
“…In [42] essentially the same method was introduced in the design of a novel type of MRAC controllers the applicability of which was investigated by simulations for the control of various systems (e.g. [43][44][45][46]). Observing the fact that in the classical, Lyapunov function-based solutions as the AID and SLAC controllers the parameter tuning rule obtained from the Lyapunov function has a simple geometric interpretation that is independent of the Lyapunov function itself, the FPI-based solution was combined with the tuning rule of the original solutions used for learning the "exact dynamic parameters" of the controlled system.…”
Section: Robotics and Automation Engineering Journalmentioning
The traditional approaches in controller design for strongly nonlinear systems are based on the PhD thesis by Lyapunov [23] that later was translated to Western languages (e.g. [24]).
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