Adaptive Liapunov controllers for nonlinear robotic dynamics

Pszczel, Marek Bogusław (1990). Adaptive Liapunov controllers for nonlinear robotic dynamics PhD Thesis, School of Physical Sciences. doi:10.14264/uql.2015.246

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Author Pszczel, Marek Bogusław
Thesis Title Adaptive Liapunov controllers for nonlinear robotic dynamics
School, Centre or Institute School of Physical Sciences
DOI 10.14264/uql.2015.246
Publication date 1990
Thesis type PhD Thesis
Supervisor J. M. Skowronski
Total pages 109
Language eng
Subjects 010204 Dynamical Systems in Applications
Formatted abstract
A robotic manipulator mounted on a moving platform and subject to uncertainty in gravity and payload is modelled by the general format of nonautonomous Lagrangian and Hamiltonian motion equations. In the first model, inertial decoupling via controller is designed. Both Lagrangian and Hamiltonian functions are explicitly time dependent, the models involving rheonomic constraints. Adjusting some tools in Liapunov formalism, algorithms for signal adaptive feedback model tracking controllers, and state and parameters identifiers, are modified to cover the case of time dependent constraints and flexible links. The latter, modelled via Ritz-Kantorovitch series approximation require reduction of dimension in their dynamics, which is made by introducing less dimensional observer. Original effort is made to allow for simultaneus investigation of identification and tracking of a reference model, while allowing different dimensionality in the robot state equations, the reference model and the identifier. The technique used is a nonlinear version of MRAC (control and identification), based on the Liapunov Direct Method, and introduced in recent years as the product-state-space method. The work is theoretic and will require experimental confirmation.
Keyword Robotics -- Mathematical models
Lyapunov functions
Robots -- Control systems

Document type: Thesis
Collection: UQ Theses (RHD) - UQ staff and students only
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Created: Tue, 27 Jan 2015, 16:35:54 EST by Mary-Anne Marrington on behalf of Scholarly Communication and Digitisation Service