This paper presents the design and analysis of a hybrid Model Reference Adaptive Controller combined with a Linear Quadratic Regulator (MRAC–LQR) for a quadrotor unmanned aerial vehicle (UAV), addressing challenges posed by nonlinear dynamics,...
Unmanned Aerial Vehicles (UAVs) are playing an increasingly important role in a wide variety of areas and the range of applications increases daily, which can also be seen in the research of the topic. At the University of Wuerzburg drones are to be...
This paper puts forward a novel output feedback model reference adaptive control (MRAC) scheme for solving an adaptive output tracking problem. The proposed control scheme only needs a scalar function to be updated online, which decreases the system...
Model Reference Adaptive Control (MRAC) guarantees closed loop stability and desired steady state performance of dynamical systems without undue dependence upon their mathematical models. However, the applicability of MRAC may not be suitable for sys...
In this work, a decentralized robust direct model reference adaptive controller (MRAC) via e-modification is suggested for the pose control of a quadrotor to prevent parameter drift. The governing equations of motion referred to the rotational system...
In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV). The mathematical model of the tri-rotor is based on the Newton–Euler...
Iron making processes and automation systems are mostly controlled by logical rules and PID controllers. The dynamic behavior of these processes varies due to factors such as raw materials, outdoor conditions, and equipment aging. Changes in system d...
The application of deoiling hydrocyclone systems as the downstream of three-phase gravity separator (TPGS) systems is one of the most commonly deployed produced water treatment processes in offshore oil and gas production. Due to the compact system&r...
Hybrid grid-connected renewable energy systems have gained significant importance in sustainably responding to an increased electrical energy demand. These are time-varying nonlinear dynamical plants, where the value of their parameters depends on ch...
This study addresses the issue of compromised performance and stability in distributed drive electric vehicles during high-speed operation in the event of motor failure. A fault-tolerant control strategy for distributed drive electric vehicles is pro...
Magnetic resonance imaging-only radiotherapy treatment planning (MRI-only RTP) and positron emission tomography (PET)–MRI imaging require generation of synthetic computed tomography (sCT) images from MRI images. In this study, initial dosimetri...
In the design of the six degrees of freedom (6-DOF) flight simulation system, the unmodeled dynamic, transient performance and steady-state performance of the system are generally concerned. Considering that the model of flight simulation system is h...
To treat the stochastic wind nature, it is required to attain all available power from the wind energy conversion system (WECS). Therefore, several maximum power point tracking (MPPT) techniques are utilized. Among them, hill-climbing search (HCS) te...
Produced water treatment (PWT) is a critical process in offshore oil and gas production, ensuring compliance with stringent environmental discharge regulations and minimizing environmental impact. This process is characterized by inherent nonlinearit...
Heavy-duty vehicles (HDVs), such as buses and commercial trucks, display unique dynamic characteristics due to their high mass and specific actuator properties. These factors make HDVs particularly sensitive to changes in vehicle load and road gradie...
To improve the control performance of the CNC machine tool feed servo system with nonlinear disturbances, a model reference adaptive control (MRAC) based on PID control is proposed. The method is based on the traditional three-loop control, the outpu...
It is vital that the synchronous generator rotor angle be kept stable to avoid disastrous consequences such as the loss of synchronism amongst generators within a power system network. Once it is unstable, the time that is taken to remedy this is adv...
Being the primary cause of inter-area oscillations and due to the fact that they limit the generation’s output, Low-Frequency Electromechanical Oscillations (LFEOs) represent a real threat to power system networks. Mitigating their effects is t...
In recent years, there has been a growing demand for multipurpose drones that can handle surveillance, environmental monitoring, and urgent deliveries. This trend has spurred the need for increased power and longer flight times for drones. Hence, man...
Surface samples (0–25 cm each) of agricultural soils were investigated in five Regions (voivodeships) of southern Poland. The mean Potentially Harmful Element (PHE) pseudototal content ranges were as follows (mg/kg): As 5.19–10.9, Cd 0.34...
This study presents a comparative analysis of classical model reference adaptive control (IO-DMRAC) and its fractional-order counterpart (FO-DMRAC), which are applied to the pitch-rate control of an F-16 aircraft longitudinal model. The research demo...
This study presents a control design of an angular position for the exoskeleton knee assistance system based on a model reference adaptive control (MRAC) strategy. Three schemes of the MRAC design have been proposed: the classical MRAC, MRAC with an...
This study evaluated the feasibility of using only diagnostically relevant magnetic resonance (MR) images together with deep learning for positron emission tomography (PET)/MR attenuation correction (deepMRAC) in the pelvis. Such an approach could el...
Mixed recycled aggregate (MRA) is a kind of recycled aggregate containing discarded bricks and other impurities that is inferior to ordinary recycled concrete aggregate. To study the effect of MRA in concrete, specimens with 100% MRA under different...
This paper addresses tracking control problems for autonomous underwater vehicle (AUV) systems with coupled nonlinear functions. For the first time, the radial basis function (RBF) is applied to the model reference adaptive control system, and the ve...
4 February 2022
The study material was comprised of 23 samples of ashes generated after the combustion of conventional and alternative fuels combined with selected fractions of municipal waste. The analyses performed involved determining the total concentration of A...
The lunar lava tubes are envisioned as possible hosting structures for a human base in the Moon’s equatorial regions, providing shelter from radiations, micrometeoroids, and temperature excursion. A first robotic mission is set to scout the hab...
This paper presents a novel hybrid structural control solution designed for distillation systems that utilize a solar source alongside an electrical grid. The power conversion architecture incorporates a reversible bridge rectifier and a quadratic bo...
This paper deals with the longitudinal movement control of an airplane (pitch angle) using fractional order adaptive controllers (FOACs). It shows the improvements achieved in the plane’s behavior, in terms of the minimization of a given perfor...
In this paper, we develop momentum-based adaptive update laws for parameter identification and control to improve parameter estimation error convergence and control system performance for uncertain dynamical systems. Specifically, we introduce three...
In this paper, an adaptive law with an integral action is designed and implemented on a DC motor by employing a rotary encoder and tachometer sensors. The stability is proved by using the Lyapunov function. The tracking errors asymptotically converge...
Cooperative control of multi-agent systems (MASs) is essential in engineering applications. However, malicious attacks and uncertainties can drive MASs to failure. Regrettably, prior work on resilient control of MASs rarely addresses uncertainties an...
This paper deals with the design of a control scheme for improving the air supply subsystem of a Proton Exchange Membrane Fuel Cell (PEMFC) with maximum power of 65 kW. The control scheme is evaluated in a plant simulator which incorporates the balan...
Heart rate variability is an important physiological parameter in medicine. This parameter is used as an indicator of physiological and psychological well-being and even of certain pathologies. Research on biofeedback integrates the fields of biologi...
The article is devoted to the synthesis, implementation, simulation and experimental study of a real-time Lyapunov-based two-degree-of-freedom model reference adaptive controller (MRAC) for an axial-piston pump. The controller of the developed real-t...
Real control systems require robust control performance to deal with unpredictable and altering operating conditions of real-world systems. Improvement of disturbance rejection control performance should be considered as one of the essential control...
Recently, a novel high-starting torque scalar control scheme (HST-SCS) for induction motor(s) (IM) emerged. It expands the scalar control application field beyond centrifugal pumps, blowers, and fans, moving, for instance, some conveyor belts with no...
This paper investigates the failure processes of recycled aggregate concrete by a model test and numerical simulations. A micromechanical numerical modeling approach to simulate the progressive cracking behavior of the modeled recycled aggregate conc...
Unmanned Aerial Vehicles (UAVs) have become essential tools in various industries for tasks such as inspection, maintenance, and surveillance. An Online Impedance Adaptive Controller (OIAC) is proposed for the online modulating of UAV control gains t...
This study introduces a novel model reference adaptive control (MRAC) framework that incorporates fractional-order gradients (FGs) to regulate the displacement of an inverted pendulum-cart system. Fractional-order gradients have been shown to signifi...
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...
To address the critical challenge of controlling tiltrotor aircraft during transition mode, this paper proposes a fractional-order model reference adaptive control (FO-MRAC) method based on the unique modeling of the tiltrotor aircraft. A nonlinear m...
This work provides a multi-agent extension of output-feedback model reference adaptive control (MRAC), designed to synchronize a network of heterogeneous uncertain agents. The implementation of this scheme is based on multi-agent matching conditions....
Magnetic Levitation is a process in which an object is suspended with the support of the magnetic field. Despite being an unstable system, Magnetic Levitation Systems (MAGLEV) have profound applications in various fields of engineering. MAGLEV system...
As one of the key techniques used in the perception layer of the Industrial Internet of Things (IIoT), radio frequency identification (RFID) has been widely applied for object tracing, smart warehouse management, product line monitoring, etc. In most...
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...
A model reference adaptive control and fuzzy neural network (FNN) synchronous motion compensator for a gantry robot is presented in this paper. This paper proposes the development and application of gantry robots with MRAC and FNN online compensators...
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...
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...
In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) con...
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