Model Reference Adaptive Control (MRAC) with Applications to Robotics PDF Download

Author: Ricky Yin Jun Tam
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 508

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Book Description

Author: Dan Zhang
Publisher: CRC Press
ISBN: 1498764886
Category : Science
Languages : en
Pages : 441

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Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781723213250
Category :
Languages : en
Pages : 110

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Book Description
This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load. Steinvorth, Rodrigo Unspecified Center CONTROL SYSTEMS DESIGN; CONTROLLERS; MODEL REFERENCE ADAPTIVE CONTROL; ROBOT ARMS; ROBOT CONTROL; ALGORITHMS; COMPUTERIZED SIMULATION; CONTROL STABILITY; LOADS (FORCES); MATHEMATICAL MODELS...

Author: Jih-Ning Liou
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 208

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Author: John J. Craig
Publisher: Addison Wesley Publishing Company
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 152

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Book Description

Author: Ivan Zelinka
Publisher: Springer
ISBN: 9783030149093
Category :
Languages : en
Pages : 1014

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Book Description

Author: Nhan T. Nguyen
Publisher: Springer
ISBN: 3319563939
Category : Technology & Engineering
Languages : en
Pages : 453

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Book Description
This textbook provides readers with a good working knowledge of adaptive control theory through applications. It is intended for students beginning masters or doctoral courses, and control practitioners wishing to get up to speed in the subject expeditiously. Readers are taught a wide variety of adaptive control techniques starting with simple methods and extending step-by-step to more complex ones. Stability proofs are provided for all adaptive control techniques without obfuscating reader understanding with excessive mathematics. The book begins with standard model-reference adaptive control (MRAC) for first-order, second-order, and multi-input, multi-output systems. Treatment of least-squares parameter estimation and its extension to MRAC follow, helping readers to gain a different perspective on MRAC. Function approximation with orthogonal polynomials and neural networks, and MRAC using neural networks are also covered. Robustness issues connected with MRAC are discussed, helping the student to appreciate potential pitfalls of the technique. This appreciation is encouraged by drawing parallels between various aspects of robustness and linear time-invariant systems wherever relevant. Following on from the robustness problems is material covering robust adaptive control including standard methods and detailed exposition of recent advances, in particular, the author’s work on optimal control modification. Interesting properties of the new method are illustrated in the design of adaptive systems to meet stability margins. This method has been successfully flight-tested on research aircraft, one of various flight-control applications detailed towards the end of the book along with a hybrid adaptive flight control architecture that combines direct MRAC with least-squares indirect adaptive control. In addition to the applications, understanding is encouraged by the use of end-of-chapter exercises and associated MATLAB® files. Readers will need no more than the standard mathematics for basic control theory such as differential equations and matrix algebra; the book covers the foundations of MRAC and the necessary mathematical preliminaries.

Author: Junku Yuh
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 326

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Book Description
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.

Author: Howard Kaufman
Publisher: Springer Science & Business Media
ISBN: 146120657X
Category : Technology & Engineering
Languages : en
Pages : 445

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Book Description
Suitable either as a reference for practising engineers or as a text for a graduate course in adaptive control systems, this is a self-contained compendium of readily implementable adaptive control algorithms. These algorithms have been developed and applied by the authors for over fifteen years to a wide variety of engineering problems including flexible structure control, blood pressure control, and robotics. As such, they are suitable for a wide variety of multiple input-output control systems with uncertainty and external disturbances. The text is intended to enable anyone with knowledge of basic linear multivariable systems to adapt the algorithms to problems in a wide variety of disciplines. Thus, in addition to developing the theoretical details of the algorithms presented, the text gives considerable emphasis to designing algorithms and to representative applications in flight control, flexible structure control, robotics, and drug-infusion control. This second edition makes good use of MATLAB programs for the illustrative examples; these programs are described in the text and can be obtained from the MathWorks file server.

Author: An-Chyau Huang
Publisher: World Scientific
ISBN: 9814307416
Category : Technology & Engineering
Languages : en
Pages : 274

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Book Description
This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.