Publication Date

1992

Document Type

Dissertation/Thesis

First Advisor

Woo, Peng-Yung

Degree Name

M.S. (Master of Science)

Department

Department of Electrical Engineering

LCSH

Manipulators (Mechanisms)||Adaptive control systems||Robots--Control systems

Abstract

With the trend of digital control in robotic application, two discrete-time model reference adaptive control schemes which can be implemented in an on-line microprocessor to eliminate the nonlinearities generated by the interactions of the three-link robotic manipulator are presented here. Without knowing the parameters of the system, we can achieve accurate trajectory tracking in a short time. The stability analysis stemmed from the Lyapunov's Direct Method. It guarantees the asymptotic stability of a system. The same as any discrete-time control systems, the time required for the computer to perform the necessary computation can result in extended sampling time, which may degrade the stability of the system. We obtain the sufficient condition of stability for discrete-time system. A set of right sampling time and weighting factors are chosen to show the highly accurate tracking. Through the MATLAB software simulation, we can see that the manipulator does follow the desired trajectory with high accuracy even tested by sinusoidal trajectory or with payload change. It proves the effectiveness of the designed controllers.

Comments

Includes bibliographical references (pages [92]-95)

Extent

ix, 109 pages

Language

eng

Publisher

Northern Illinois University

Rights Statement

In Copyright

Rights Statement 2

NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.

Media Type

Text

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