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Filtering by: Advisor Magana, Mario Remove constraint Advisor: Magana, Mario Subject Nonlinear control theory Remove constraint Subject: Nonlinear control theory

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  • Robust nonlinear decentralized control of robot manipulators

    Creator:
    Jimenez, Ronald, 1964-
    Abstract:
    A new decentralized nonlinear controller for Robot Manipulators is presented in this thesis. Based on concepts of Lyapunov stability theory and some control ideas proposed in [3]-[7], we obtain continuous nonlinear decentralized control laws which guarantee position and velocity tracking to within an arbitrarily small error. Assumptions based on physical...
    Resource Type:
    Masters Thesis
    Full Text:
    Manipulators. Redacted for Privacy Abstract approved: Dr. Mario E. Magaiia A new decentralized nonlinear

  • Active robust control of cable-stayed bridges

    Creator:
    Scheer, Dietmar
    Abstract:
    Long bridges tend to develop large deformations under the action of intense dynamical loads such as wind or earthquakes. Unless these deformations are controlled in some fashion, the structure might suffer damage or even collapse. One possible solution to this problem is to apply external forces to the bridge through...
    Resource Type:
    Masters Thesis
    Full Text:
    for Privacy Abstract approved: - Mario E. Magalla Long bridges tend to develop large deformations

  • A fast trajectory tracking adaptive controller for robot manipulators

    Creator:
    Tagami, Shinsuke
    Abstract:
    An adaptive decentralized nonlinear controller for a robot manipulator is presented in this thesis. Based on the adaptive control schemes designed by Seraji [18], Dai [30], and Jimenez [31], we redesigned and further simplified the control algorithm and, as a consequence, we achieved better path tracking performance. The proposed adaptive...
    Resource Type:
    Masters Thesis
    Full Text:
    , 1993 Typed by Shinsuke Tagami ACKNOWLEDGEMENT To my professor Dr. Mario E. Magana TABLE OF