Publication Date


Document Type


First Advisor

Woo, Peng-Yung

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Electrical Engineering


Manipulators (Mechanism); Adaptive control systems; Nonlinear control theory; Robots--Control systems


In this thesis a new approach of nonlinear adaptive control is applied to structurally elastic multi-link manipulators. The research begins with the general dynamics of structurally elastic manipulators. Then a modified MRAC controller with a prescribed Liapunov’s stable referenced model is introduced in to achieve the control goals on the working robot. Based on the difference between the defined outputs of the referenced model and the control scheme, the feedback coefficient matrices of the controller are determined and adapted via the least-mean squared algorithm. Analysis, design, and computer simulations have been done to show the effectiveness of the controller design. Different sets of parameters of the controller and initial conditions of the robots are used to test the availability of the controller under different circumstances. It is shown that this design can direct the robot to track the desired velocity trajectory very well and therefore proves the effectiveness of this controller.


Includes bibliographical references (pages [122]-124)


xiv, 133 pages




Northern Illinois University

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