Model Reference Adaptive Control Design for Nonlinear Plants
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2019, Vol 10, Issue 3
Abstract
In this paper, the basic theory of the model reference adaptive control design and issues of particular relevance to control nonlinear dynamic plants with a relative degree greater than or equal to one with unknown parameters are detailed. The studied analysis was motivated through its application to a robot manipulator with six degrees of freedom. After linearization using the input-output feedback linearization and decoupling algorithm, the nonlinear Multi-input Multi-output system was transformed into six independent single-input single-output linear subsystems each one has a relative degree equal to two, the obtained results in different simulations shows that the augmented reference model adaptive controller has been successfully implemented.
Authors and Affiliations
Wafa Ghozlane, Jilani Knani
Keywords
Related Articles
- EP ID EP498403
- DOI 10.14569/IJACSA.2019.0100314
- Views 97
- Downloads 0
A Comparative Study of Forensic Tools for WhatsApp Analysis using NIST Measurements
One of the popularly used features on Android smartphone is WhatsApp. WhatsApp can be misused, such as for criminal purposes. To conduct investigation involving smartphone devices, the investigators need to use forensic...
DoS Detection Method based on Artificial Neural Networks
DoS attack tools have become increasingly sophis-ticated challenging the existing detection systems to continually improve their performances. In this paper we present a victim-end DoS detection method based on Artificia...
Exploring Mechanisms for Pattern Formation through Coupled Bulk-Surface PDEs in Case of Non-linear Reactions
This work explores mechanisms for pattern forma-tion through coupled bulk-surface partial differential equations of reaction-diffusion type. Reaction-diffusion systems posed both in the bulk and on the surface on station...
An Improvement of Power Saving Class Type II Algorithm in WiMAX Sleep-mode
Because of the fact that users can connect to a WiMAX (IEEE 802.16) network wirelessly with large-scale movement capability, it is inevitable that they cannot access electrical power sources at their desired time. As a r...
Efficient Iris Pattern Recognition Method by using Adaptive Hamming Distance and 1D Log-Gabor Filter
Iris recognition is one of the highly reliable security methods as compared to the other bio-metric security techniques. The iris is an internal organ whose texture is randomly de-termined during embryonic gestation and...