A Modified Model Reference Adaptive Control for High-Performance Pantograph Robot Mechanism

Abstract

For the minimization problem with pointwise observation governed by a one-dimensional parabolic equation with a free convection term and a depletion potential, we formulate a result on the existence and uniqueness of a minimizer from a prescribed set. We use a weight quadratic cost functional showing the temperature deviation. We obtain estimates for the norm of control functions in terms of the value of the quality functional in different functional spaces. It gives us a possibility to estimate the required internal energy of the system. To prove these results we establish the positivity principle.

A New Self-Tuning Nonlinear PID Motion Control for One-Axis Servomechanism with Uncertainty Consideration

“…The nonlinear PID controller consists of six parameters which are classified into two parts, the first part is the traditional PID parameters while the second part is the fixed three parameters integrated into the nonlinear function [34]- [38]. This type of controller has a satisfying behavior with several nonlinear systems but it has a poor performance when there are uncertainty and parameter variations [39], [40]. This paper seeks to develop a new self-tuning for these six parameters at the same time online using an adaptive mechanism based on a preselected model reference.…”

Adaptive Controller with PID, FOPID, and NPID Compensators for Tracking Control of Electric – Wind Vehicle

“…However, they do not guarantee desired dynamic performance and do not operate efficiently under a variety of operating situations [38]- [40]. Advanced control techniques such as adaptive control, variable structure control, fuzzy control, and neural networks can be used to solve this challenge [41]. Although the variable structure controller is simple, it is challenging to put into practice [42], [43].…”