Generalized Cyclic Pursuit: An Estimator-Based Model-Reference Adaptive Control Approach

2020 ◽  
Author(s):  
Antoine Ansart ◽  
Jyh-Ching Juang
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Control Approach ◽  
Cyclic Pursuit ◽  
Model Reference Adaptive

Evolution of Adaptive Control

1993 ◽  
Vol 115 (2B) ◽  
pp. 381-391 ◽  
Author(s):  
Ioan D. Landau
Keyword(s):  
Adaptive Control ◽  
Adaptive Controller ◽  
Minimum Variance ◽  
Model Reference Adaptive Control ◽  
General Purpose ◽  
Control Algorithms ◽  
Model Reference ◽  
Control Approach ◽  
Systems Research ◽  
Model Reference Adaptive

The evolution of the adaptive control algorithms driven by the results obtained in the application of the 1st generation of adaptive controllers (model reference adaptive control, self-tuning minimum variance) is examined. Research in the field of adaptive control has been directed, on the one hand, toward the development of a robust general purpose adaptive controller and, on the other, towards the extension of the model reference adaptive control approach to nonlinear systems. Research has also investigated the stability/passivity approach for developing dedicated adaptive control algorithms for particular classes of nonlinear plants (e.g., rigid robots). The paper will review the results obtained in these directions both from the theoretical and the practical points of view. In the final part, current research directions will be included.

Model-Reference Based Adaptive Control for Enhancing Lateral Stability of Car-Trailer Systems

2016 ◽  
Author(s):  
Smitha Vempaty ◽  
Eungkil Lee ◽  
Yuping He
Keyword(s):  
Adaptive Control ◽  
Degrees Of Freedom ◽  
Reference Model ◽  
Model Reference Adaptive Control ◽  
Operating Conditions ◽  
Model Parameters ◽  
Lateral Stability ◽  
Model Reference ◽  
Control Approach ◽  
Model Reference Adaptive

This paper presents a model reference adaptive control (MRAC) approach to enhance the lateral stability of car-trailer systems. To this end, a 3 degrees of freedom (DOF) linear yaw-plane car-trailer model was developed as a “reference model”. The yaw rate of leading and trailing units of the reference model were used as the target states to control and stabilize a virtual vehicle plant represented by a 5 DOF linear yaw-roll car-trailer model. A Lyapunov-based controller was designed to handle the lateral stability of the car-trailer dynamical system. The model parameters and operating conditions of the system were predefined while designing the controller. The effectiveness of the adaptive controller for improving the lateral stability of car-trailer systems was demonstrated under a simulated multiple cycle sine-wave steering input maneuver. It was observed that the lateral stability of car-trailer system was improved by controlling respective yaw rates of the car and the trailer, using model reference adaptive control approach in conjunction with Lyapunov stability criterion.

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