Page 192 - IJOCTA-15-4

E.M. Shaban / IJOCTA, Vol.15, No.4, pp.728-737 (2025)

15
1000
10
500
5
0
-500
0
-1000
-5
-1500
0 1 2 3 4 5 6 7 8 9 10
-10
Figure 8. Adaptive gain
-15
0 1 2 3 4 5 6 7 8 9 10
1.1

15 1.05
1
0.95
10
0.9
0.85
5
0.8
0.75
0
0.7
0.65
-5
0.6
0 1 2 3 4 5 6 7 8 9 10
-10
Figure 9. Adaptive gain
-15
0 1 2 3 4 5 6 7 8 9 10
Figure 6. Control torque input
10 4
2

1.5
1

0.5
0
Figure 10. Adaptive gain
-0.5
The results clearly depict the enhanced per-
-1
formance of MRAC-NNTDE in addressing un-
-1.5 certain dynamics and disturbances. Figures 4-
0 1 2 3 4 5 6 7 8 9
5 illustrate the precise position tracking and er-
rors achieved by the designed method, while Fig-
10 4
3
ures 6 and 7 depict the efficient control inputs
and precise TDE estimation of unknown dynam-
2
ics, respectively. The adaptability of the method
is also clear from Figures 8 to 10, demonstrat-
1
ing the adaptation of adaptive gains utilized to
overcome the unknown dynamics during simula-
0
tion. It is clear from the acquired simulation
-1
results that computer simulations guarantee the
overall stability of the system with adequate per-
-2
formance in the face of external disturbances.
Furthermore, without the need for a regression
-3
0 1 2 3 4 5 6 7 8 9
matrix, MRAC-NNTDE achieves a rapid conver-
gence speed and extremely robust tracking perfor-
Figure 7. Estimation using TDE mances for unknown and unpredictable dynamics
734