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Robust Fixed Point Transformations in Model Reference Adaptive Control for a 4 DOF Classical Mechanical System

TitleRobust Fixed Point Transformations in Model Reference Adaptive Control for a 4 DOF Classical Mechanical System
Publication TypeConference Paper
Year of Publication2011
Publication LanguageEnglish
Pagination6
AuthorsVárkonyi, T. A., J. K. Tar, and I. J. Rudas
Conference Nameinter-Academia
Conference LocationSucevita, Romania
Abstract

Nowadays in solving adaptive control problems Lyapunov’s second method is generally involved. Although, the method is ingenious and very popular, recently alternative solutions have appeared which in many cases prove to be more advantageous and also effective. One of these methods is the family of Robust Fixed Point Transformations (RFPT) which can be used in several areas successfully. In this paper a special Model Reference Adaptive Controller (MRAC) is suggested for two pendulums on the top of a car. The car can move along a fixed horizontal line and the degree of freedom of the system is four because one of the pendulums has an extra hinge. The simulation results show that the RFPT based MRAC can handle the dynamic system very well, with very low tracking error.