Model Reference Adaptive Control Design for Nonlinear Plants

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.

@article{Ghozlane2019,
  title     = {Model Reference Adaptive Control Design for Nonlinear Plants},
  journal   = {International Journal of Advanced Computer Science and Applications},
  volume    = {10},
  number    = {3},
  year      = {2019},
  publisher = {The Science and Information Organization},
  author    = {Wafa Ghozlane and Jilani Knani},
  doi       = {10.14569/IJACSA.2019.0100314},
  url       = {https://doi.org/10.14569/IJACSA.2019.0100314}
}