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In this paper, simple adaptive control schemes based on Model Reference Adaptive Systems (MRAS) algorithm are developed for the asymptotic output tracking problem with changing system parameters and disturbances under guaranteeing stability. The adaptive adjusting law is derived by using Lyapunov theory. The direct and indirect adaptive schemes are proposed(More)
Neural Network (NN) based Learning Feed-Forward Control (LFFC) is an attractive control paradigm for motion systems. The use of LFFC can improve not only the disturbance rejection, but also the stability robustness of the controlled system. One of the main drawbacks of the NN-based LFFC is the requirement that the training motions have to be chosen(More)
In this paper, the behavior of a stiff shaft in a drive system consisting of two DC motors driving a common load is investigated. The expectation is to get both motor armature currents to match, indicating successful load sharing. The new idea of using Model Reference Adaptive Systems (MRAS) approach has been applied to design a control system such that two(More)
This paper proposes a new procedure for designing a direct analog adaptive controller that is based on Model Reference Adaptive Systems (MRAS) using Operational amplifiers (Op-amps). The adaptive controller in s-domain (complex frequency domain) is firstly designed using Lyapunov theory. It is quite simple, robust and converges quickly. The controller is(More)
 Abstract—In this paper, trajectory tracking of a differential drive nonholonomic mobile robot is presented. In addition to the complex relations of the control system, the nonholonomic system adds complexity to the system which has been solved using the feed-forward and feedback fuzzy logic controllers. An innovative scheme has been developed to track the(More)
This paper introduces an adaptive controller that designed based on Model Reference Adaptive System (MRAS) algorithm for motion systems using linear motors. For a given plant model the adaptive controller is designed such that the closed-loop control system has the characteristics of the desired dynamic system. The resulting controller is known as a(More)
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