Download or read book Discrete time Explicit Model Reference Adaptive Control for Robotic Manipulators written by Junku Yuh and published by . This book was released on 1986 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Discrete time Model Reference Adaptive Controller Design for Robotic Manipulators written by Shiaw-Pyng Yang and published by . This book was released on 1992 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Model Reference Adaptive Control of Mechanical Manipulators written by Roberto Horowitz and published by . This book was released on 1983 with total page 524 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Application of Discrete Time Model Reference Adaptive Control to PUMA 560 Robot Manipulator written by W. Worger and published by . This book was released on 1986 with total page 17 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Systems in Control and Signal Processing 1986 written by K.J. Aström and published by Elsevier. This book was released on 2016-07-21 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Adaptive Systems in Control and Signal Processing 1983 written by I. D. Landau and published by Elsevier. This book was released on 2014-06-28 with total page 389 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Theory and Implementation of Adaptive and Repetitive Control for Robot Manipulators written by Mingzhang Cai and published by . This book was released on 1989 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control Systems written by Chalam and published by Routledge. This book was released on 2017-10-19 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Adaptive Control of Robot Manipulators written by An-Chyau Huang and published by World Scientific. This book was released on 2010 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Journal of Dynamic Systems Measurement and Control written by and published by . This book was released on 1997 with total page 868 pages. Available in PDF, EPUB and Kindle. Book excerpt: Publishes theoretical and applied original papers in dynamic systems. Theoretical papers present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. Applied papers include modeling, simulation, and corroboration of theory with emphasis on demonstrated practicality.
Download or read book Model Reference Adaptive Control for Robotic Manipulators written by Masaaki Hayashi and published by . This book was released on 1986 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control written by Rogelio Lozano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 571 pages. Available in PDF, EPUB and Kindle. Book excerpt: Adaptive Control provides techniques for automatic, real-time adjustments in controller parameters with a view to achieving and/or maintaining a desirable level of system performance in the presence of unknown or variable process parameters. Many aspects of the field are dealt with in coherent and orderly fashion, starting with the problems posed by system uncertainties and moving on to the presentation of solutions and their practical significance. Within the general context of recent developments, the book looks at: • synthesis and analysis of parameter adaptation algorithms; • recursive plant-model identification in open and closed loop; • robust digital control for adaptive control; • direct and indirect adaptive control; and • practical aspects and applications. To reflect the importance of digital computers for the application of adaptive control techniques, discrete-time aspects are emphasized. To guide the reader, the book contains various applications of adaptive control techniques.
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Control SYROCO 85 written by L. Basañez and published by Pergamon. This book was released on 1986 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt:
