A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust...
Tiltrotor aircrafts have both fixed-wing control surfaces and helicopter rotors for attitude control. The redundancy of control surfaces provides the possibility for the control system to reconfigure the control law when actuator faults occur during...
In this paper, to achieve auto-setting of PI controller gains when mechanical parameters are unknown, two adaptive PI controllers for speed control of electric drives are developed based on model reference adaptive identification. The adaptive linear...
This study presents the design and performance evaluation of an adaptive control system for a biped robot with five degrees of freedom. The primary goal is to achieve stable and accurate control despite uncertainties in the robot’s dynamic para...
This article represents and compares two control systems for a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV): a sliding proportional–integral–derivative (PID) controller and an adaptive L1 controller. The goal is to de...
An adaptive cruise control system is highly used in conventional internal combustion engine vehicles, but due to the electrification of the vehicles, the adaptive cruise control system must be placed in relation with the electric motor control block....
The problem addressed in this article consists of the motion control of a quadrotor affected by model disturbances and uncertainties. In order to tackle model uncertainty, adaptive control based on reinforcement learning is used. The distinctive feat...
In order to reduce the effect of nonlinear friction and time-varying factors on the servo system of a computer numerical control (CNC) machine tool and improve its motion control accuracy, this paper uses an adaptive sliding mode control (ASMC) metho...
This paper investigates the performance of two different adaptive control schemes for controlling the angular position of an electronic throttle (ET) plate. The adaptive backstepping controller and adaptive sliding mode backstepping controller are th...
This paper presents an adaptive wireless droop control scheme that uses an adaptive virtual resistance to regulate the DC voltage and control the active power. The proposed methodology is implemented to address the power mismatch problem in a fixed-d...
A novel adaptive intelligent control system (AICS) with learning-while-controlling capability is developed for a highly nonlinear single-input single-output plant by redesigning the conventional model reference adaptive control (MRAC) framework, orig...
The milk pasteurization process is nonlinear in nature, and for this reason, the application of linear control algorithms does not guarantee the obtainment of the required performance in every condition. The problem is here addressed by proposing an...
This paper concentrates on the study of logic-based switching adaptive control. Two different cases will be considered. In the first case, the finite time stabilization problem for a class of nonlinear system is studied. Based on the recently develop...
In actual industrial control, many objects have the characteristics of large lag and time-varying parameters, which makes it difficult for traditional PID control to obtain satisfactory control effects. Therefore, engineers need a control algorithm w...
Model reference adaptive control (MRAC) schemes are known as an effective method to deal with system uncertainties. High adaptive gains are usually needed in order to achieve fast adaptation. However, this leads to high-frequency oscillation in the c...
Robust control, adaptive control, and adaptive control allocation methods can create resilient systems that are able to handle uncertainties as well as unknown deficiencies in actuator effectiveness. The capabilities of these methods can further enab...
To minimize the occurrence of traffic accidents, such as vehicle rear-end collisions, while enhancing vehicle following, stability, economy, and ride comfort, a hierarchical adaptive cruise control strategy for vehicles is proposed. The upper-level c...
The basic characteristic of batch bioreactors is their inability to inflow or outflow the substances during the fermentation process. This follows in the simple construction and maintenance, which is the significant advantage of batch bioreactors. Un...
Drag reduction plays a major role in future aircraft design in order to lower emissions in aviation. In transonic flight, the transonic shock induces wave drag and thus increases the overall aircraft drag and hence emissions. In the past decades, sho...
This paper presents the design, simulation and experimental verification of adaptive feedforward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane. Based on common adaptation method...
In this article, a nonlinear adaptive fuzzy backstepping controller combined with an adaptive backstepping controller and an adaptive fuzzy controller is proposed for real-time tracking control of an electro-hydraulic force loading system. Firstly, a...
A B-spline neural networks-based adaptive control technique for angular speed reference trajectory tracking tasks with highly efficient performance for direct current shunt motors is proposed. A methodology for adaptive control and its proper trainin...
In this paper, a fast equalizer for series-connected battery packs with adaptive balancing current control is proposed. As the duty cycle of the power switch in conventional equalizers is kept constant during the equalization process, smaller voltage...
An adaptive cruise control (ACC) system can improve safety and comfort during driving by taking over longitudinal control of the vehicle. It requires the coordination between the upper-layer controller and the lower-layer actuators. In this paper, a...
With the widespread adoption of voltage-source converters for grid-connected new energy power generation, the transient stability of VSCs under high penetration of new energy has become a key issue in the construction of modern power systems. Grid-fo...
To improve the anti-interference and robustness of the adaptive cruise control system in car-following mode, this paper designs a robust controller for the automobile adaptive cruise control system which contains two layers, the upper and lower struc...
This study experimentally compares classical PID and three adaptive control strategies (including a novel adaptive control strategy developed by the authors) for stabilizing the crankshaft speed of a diesel engine (ADCR Euro 4). The tests were perfor...
A novel data-driven-based adaptive sliding-mode control scheme is proposed for unmanned surface vehicle course control in the presence of disturbances. The proposed method utilizes the model-free adaptive control (MFAC) theory. On account of the unkn...
In this paper, robust adaptive control is designed for pitch and torque control of the wind turbines operating under turbulent wind conditions. The dynamics of the wind turbine are formulated by considering the five degrees of freedom system (rotor a...
This work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The ad...
In this paper, in order to improve the control characteristics of the centrifugal pump flow control system, a mathematical model of the centrifugal pump flow control system was established based on an analysis of the basic structures, such as the fre...
An adaptive fuzzy iterative learning control (ILC) algorithm is designed for the iterative variable reference trajectory problem of nonlinear discrete-time systems with input saturations and unknown control directions. Firstly, an adaptive fuzzy iter...
Precise force tracking and overshoot suppression are critical for manipulator dynamic contact tasks, especially in unstructured environments such as complex surface cleaning that rely on dynamic feedback from force sensors. Traditional impedance cont...
This work presents four robust adaptive control laws for a quadcopter drone subject to wind-gust disturbances. The four robust adaptive control laws are based on nonlinear backstepping and sliding-mode techniques to improve robustness. The four contr...
Passive vibration control solutions are often limited to working reliably at one design point. Especially applied to lightweight structures, which tend to have unwanted vibration, active vibration control approaches can outperform passive solutions....
Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design...
With the rapid development of robotics technology, quadruped robots have shown significant potential in navigating complex terrains due to their excellent stability and adaptability. This paper proposes an adaptive dynamic programming control method...
This paper addresses the problem of autonomous landing of a quadrotor unmanned aerial vehicle (UAV) on a moving ground vehicle subjected to unknown vertical oscillations generated by road irregularities. The proposed approach considers simultaneous l...
This paper compares the operation of a decentralized Nash bargaining traffic signal controller (DNB) to the operation of state-of-the-art adaptive and gating traffic signal control. Perimeter control (gating), based on the network fundamental diagram...
This paper presents a hybrid adaptive control strategy for upper limb rehabilitation robots using impedance learning. The hybrid adaptation consists of a differential updating mechanism for the estimation of robotic modeling uncertainties and periodi...
This paper studies constrained model reference adaptive control (MRAC) for a planar unmanned ground vehicle (UGV) subject to actuator limits and safety requirements. First, we establish a double-integrator model by applying dynamic feedback lineariza...
In this paper, the author presents the adaptive control design and stability analysis of robotic manipulators based on two main approaches, i.e., Lyapunov stability theory and hyperstability theory. For the Lyapunov approach, the author presents the...
Autonomous vehicles are often subjected to disturbances that compromise path-tracking accuracy and stability. Traditional chassis controllers that rely on fixed vehicle models exhibit performance limitations under such uncertainties. To address this...
The system of a greenhouse is required to ensure a suitable environment for crops growth. In China, the Chinese solar greenhouse plays a crucial role in maintaining a proper microclimate environment. However, the greenhouse system is described with c...
This paper presents a new decentralized adaptive control scheme for motion control of robot manipulators built based on a closed-kinematic chain mechanism (CKCM). By employing the synchronization technique and model reference adaptive control (MRAC)...
Practical robotic systems require control methods that remain reliable under limited computational resources, uncertain environments, and frequent changes in operating conditions. Although model-based control forms the foundation of high-performance...
Aiming at the force-tracking error phenomenon of impedance control in an unknown surface environment, an adaptive variable-damping impedance control algorithm is proposed, and the stability and convergence of the algorithm are deduced. An adaptive-la...
It is difficult to achieve accurate distribution of reactive power based on conventional droop control due to the line impedance mismatch in an islanded microgrid. An adaptive virtual impendence method based on consensus control of reactive current i...
Maximum-power point tracking of wind turbines is a challenging issue considering fast changing wind conditions of urban areas. For this purpose, an adaptive control approach that is fast and robust is required. Conventional approaches based on simple...
In a cut-in scenario, traditional adaptive cruise control usually cannot effectively identify the cut-in vehicle and respond to it in advance. This paper proposes an adaptive cruise control (ACC) strategy based on the MPC algorithm for cut-in scenari...
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