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Author: Junku Yuh Publisher: ISBN: Category : Manipulators (Mechanism) Languages : en Pages : 326
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: Junku Yuh Publisher: ISBN: Category : Manipulators (Mechanism) Languages : en Pages : 326
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: Dan Zhang Publisher: CRC Press ISBN: 1498764886 Category : Science Languages : en Pages : 441
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: Dan Zhang Publisher: CRC Press ISBN: 1351678922 Category : Science Languages : en Pages : 407
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: K.J. Aström Publisher: Elsevier ISBN: 1483298086 Category : Technology & Engineering Languages : en Pages : 463
Book Description
This second IFAC workshop discusses the variety and applications of adaptive systems in control and signal processing. The various approaches to adaptive control systems are covered and their stability and adaptability analyzed. The volume also includes papers taken from two poster sessions to give a concise and comprehensive overview/treatment of this increasingly important field.
Author: I. D. Landau Publisher: Elsevier ISBN: 148319065X Category : Technology & Engineering Languages : en Pages : 389
Book Description
Adaptive Systems in Control and Signal Processing 1983 is a compendium of papers presented at the International Federation of Automatic Control in San Francisco on June 20-22, 1983. One paper addresses the results through comparative alternative algorithms in adaptive control of linear time invariant and time varying systems. Another paper presents a method in computer simulation of a wide range of stable plants to achieve an alternative approach in designing an adaptive control system. The book also compares the stability and the sensitivity approach involving the design of model-reference adaptive systems. The authors involved explain that the sensitivity concept determines the "dynamic speed of adaptation," while the stability concept focuses on finding a linear compensator for any deviant signal. One paper proposes an indirect adaptive control algorithm for MIMO square full rank minimum phase systems, while another paper discusses the application of the discrete time multivariable adaptive control system, to non-minimum phase plants with an unknown dead time. This book can prove valuable to engineers and researchers of electrical, computer, and mechanical engineering. It can also be helpful for technicians and students dealing with automatic control and telecontrol.
Author: Chalam Publisher: Routledge ISBN: 1351468987 Category : Technology & Engineering Languages : en Pages : 544
Book Description
impossible to access. It has been widely scattered in papers, reports, and proceedings ofsymposia, with different authors employing different symbols and terms. But now thereis a book that covers all aspects of this dynamic topic in a systematic manner.Featuring consistent terminology and compatible notation, and emphasizing unifiedstrategies, Adaptive Control Systems provides a comprehensive, integrated accountof basic concepts, analytical tools, algorithms, and a wide variety of application trendsand techniques.Adaptive Control Systems deals not only with the two principal approachesmodelreference adaptive control and self-tuning regulators-but also considers otheradaptive strategies involving variable structure systems, reduced order schemes, predictivecontrol, fuzzy logic, and more. In addition, it highlights a large number of practical applicationsin a range of fields from electrical to biomedical and aerospace engineering ...and includes coverage of industrial robots.The book identifies current trends in the development of adaptive control systems ...delineates areas for further research . : . and provides an invaluable bibliography of over1,200 references to the literature.The first authoritative reference in this important area of work, Adaptive ControlSystems is an essential information source for electrical and electronics, R&D,chemical, mechanical, aerospace, biomedical, metallurgical, marine, transportation, andpower plant engineers. It is also useful as a text in professional society seminars and inhousetraining programs for personnel involved with the control of complex systems, andfor graduate students engaged in the study of adaptive control systems.
Author: Junku Yuh
Author: Junku Yuh
Author: Shiaw-Pyng Yang
Author: Dan Zhang
Author: Dan Zhang
Author: Roberto Horowitz
Author: K.J. Aström
Author: W. Worger
Author: I. D. Landau
Author: Mingzhang Cai
Author: Chalam