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  • Robust controller design for robotic manipulators with saturation

    Creator:
    Liang, Zuyang
    Abstract:
    The development of modern industries calls for the robotic manipulators with high speed and accurate tracking performance. Many authors have paid attention to robust control of robotic manipulators; however, only few authors have also considered the control problem of manipulators with power limitation. In this dissertation, the robotic manipulator is...
    Resource Type:
    Dissertation
    Full Text:
    Saturation Abstract approved: Redacted for Privacy Andrzej Olas The development of modern industries

  • Robustness estimation via integral liapunov functions

    Creator:
    Alam, Arshad
    Abstract:
    An investigation focusing on methods of estimation of robustness of nominally linear dynamic systems with unstructured uncertainties was performed. The algorithm proposed involves the consideration of an associated system, selection, and subsequent development, of Liapunov function candidate and integration of their derivatives along the solution trajectory. A nominally linear multi-dimensional...
    Resource Type:
    Masters Thesis
    Full Text:
    ABSTRACT APPROVED: Redacted for Privacy Andrzej Olas An investigation focusing on methods of estimation

  • Robustness of uncertain systems : globally optimal Lyapunov function

    Creator:
    Ahmadkhanlou, Fariborz
    Abstract:
    The Lyapunov direct method is utilized to determine the robustness bounds for nonlinear, time-variant uncertainies p[subscript i]. Determination of the robustness bounds consists of two principal steps: (i) generation of a Lyapunov function and (ii) determination of the bounds based on the generated Lyapunov function. Presently in robustness investigations, a...
    Resource Type:
    Dissertation
    Full Text:
    : Globally Optimal Lyapunov Function Abstract approved: Andrzej Olap,/ Robust stability problem for