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Model Reference Adaptive Control Design for Nonlinear Plants
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Journal Article
Model Reference Adaptive Control Design for Nonlinear Plants
2019
Overview
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.
Publisher
Science and Information (SAI) Organization Limited
Subject
