Robustification of the state-space MRAC law for under-actuated systems via fuzzy-immunological computations.

This paper formulates an enhanced Model-Reference-Adaptive-Controller (MRAC) that is augmented with a fuzzy-immune adaptive regulator to strengthen the disturbance-attenuation capability of closed-loop under-actuated systems. The proposed scheme employs the conventional state-space MRAC and augments it with a pre-configured fuzzy-immune mechanism that acts as a superior regulator to dynamically modulate the adaptation gains of the Lyapunov gain-adjustment law. The immunological computations increase the controller's adaptability to flexibly manipulate the damping control effort under exogenous disturbances. The efficacy of the proposed Immune-MRAC law is comparatively analyzed under practical disturbance conditions by conducting real-time hardware experiments on the QNET rotary pendulum. The experimental outcomes validate the faster transient-recovery behavior and stronger damping effort of the proposed control law against the exogenous disturbances while preserving the system's asymptotic stability and control energy efficiency.