國立虎尾科技大學 |

Adaptive Control of Nonlinear Dynamic Robotic Systems.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Adaptive Control of Nonlinear Dynamic Robotic Systems./
作者:	Yadav, Sumit.
面頁冊數:	1 online resource (83 pages)
附註:	Source: Masters Abstracts International, Volume: 56-04.
Contained By:	Masters Abstracts International56-04(E).
標題:	Electrical engineering. -
電子資源:	click for full text (PQDT)
ISBN:	9781369809558

Adaptive Control of Nonlinear Dynamic Robotic Systems.
Yadav, Sumit.

Adaptive Control of Nonlinear Dynamic Robotic Systems. - 1 online resource (83 pages)

Source: Masters Abstracts International, Volume: 56-04.

Thesis (M.S.)--Tennessee Technological University, 2017.

Includes bibliographical references

In this thesis, adaptive controllers are designed for an inverted pendulum and a quad-rotor. Adaptive control is extensively used in the field of robotics, because of the non-linear characteristics, highly coupled equations and parametric uncertainties and disturbances. This makes adaptive controller the right choice for such systems.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9781369809558Subjects--Topical Terms:

596380
Electrical engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Adaptive Control of Nonlinear Dynamic Robotic Systems.
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100 1 $a Yadav, Sumit. $3 1194172
245 1 0 $a Adaptive Control of Nonlinear Dynamic Robotic Systems.
264 0 $c 2017
300 $a 1 online resource (83 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Masters Abstracts International, Volume: 56-04.
500 $a Adviser: Stephen Canfield.
502 $a Thesis (M.S.)--Tennessee Technological University, 2017.
504 $a Includes bibliographical references
520 $a In this thesis, adaptive controllers are designed for an inverted pendulum and a quad-rotor. Adaptive control is extensively used in the field of robotics, because of the non-linear characteristics, highly coupled equations and parametric uncertainties and disturbances. This makes adaptive controller the right choice for such systems.
520 $a Inverted pendulums have been extensively used to study the control performance of many engineering control problems. An adaptive control strategy is proposed for the inverted pendulum motion and posture control problem. Adaptive control also take care of non-linear friction. The control strategy use the Lyapunov stability-based online adaptation technique that gives the good asymptotic motion tracking and posture control. Results for various situations highlight the achievement of the proposed scheme in compensation for external disturbance and friction.
520 $a Unmanned Aerial Vehicles have received lot of attention in last decade. They can be programmed to do predefiend task without any human intervention. The control of such machines is not a trivial task. The dynamics are non-linear and highly coupled with each other. Some of the machine are under-actuated with less number of control inputs then degree of freedom. The control became harder under disturbances and parametric uncertainties. This thesis seeks to address this issue by suggesting an adaptive control under parametric uncertainties. The adaptive control scheme learns the quad-rotors inverse model with a Lyapunov-based adaption law. For that, a robustness feedback loop is used to stabilize the quad-rotor's at start-up. Therefore, the controller achieves accurate motion tracking with parametric uncertainties. Unlike many controllers, the proposed adaptive control scheme's stability is guaranteed by Lyapunov direct method. The proposed controller's performance in coping with parameter variations is highlighted in different operating conditions.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Electrical engineering. $3 596380
650 4 $a Computer engineering. $3 569006
650 4 $a Robotics. $3 561941
655 7 $a Electronic books. $2 local $3 554714
690 $a 0544
690 $a 0464
690 $a 0771
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a Tennessee Technological University. $b Electrical Engineering. $3 1184626
773 0 $t Masters Abstracts International $g 56-04(E).
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10269302 $z click for full text (PQDT)