Discrete-time explicit model reference adaptive control for robotic manipulators Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/9s1618582

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  • In this dissertation a direct approach to discrete-time model reference adaptive control (MRAC) based on hyperstability theory is proposed to control industrial robotic manipulators. For industrial robots and manipulators, which usually have highly nonlinear and complex dynamic equations and often have unknown inertia characteristics, it is very difficult to achieve high performance with conventional control strategies. This desired high performance in terms of speed and accuracy can be obtained by adaptive control techniques. Considering the effects of gravity, process noise and payload uncertainty the MRAC approach is investigated using simulation for a three degree of freedom industrial robot. These simulation results show that adaptive control techniques can provide robust properties in spite of poor a priori information regarding the robot dynamics and operating circumstances.
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  • description.provenance : Submitted by Kevin Martin (martikev@onid.orst.edu) on 2013-07-01T18:21:42Z No. of bitstreams: 1 YuhJunku1986.pdf: 1275661 bytes, checksum: b2d867729c88d47c84c2ab98b2da4d9f (MD5)
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  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2013-07-02T15:40:15Z (GMT) No. of bitstreams: 1 YuhJunku1986.pdf: 1275661 bytes, checksum: b2d867729c88d47c84c2ab98b2da4d9f (MD5)

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