Model Reference Adaptive Control Of Manipulators

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Model Reference Adaptive Control Of Manipulators

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Author : D. P. Stoten
language : en
Publisher:
Release Date : 1990

Model Reference Adaptive Control Of Manipulators written by D. P. Stoten and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Adaptive control systems categories.

Adaptive Control Of Mechanical Manipulators

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Author : John J. Craig
language : en
Publisher: Addison Wesley Publishing Company
Release Date : 1988

Adaptive Control Of Mechanical Manipulators written by John J. Craig and has been published by Addison Wesley Publishing Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Technology & Engineering categories.

Adaptive Control Of Robot Manipulators

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Author : An-Chyau Huang
language : en
Publisher: World Scientific
Release Date : 2010

Adaptive Control Of Robot Manipulators written by An-Chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology & Engineering categories.

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.

Adaptive Control For Robotic Manipulators

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Author : Dan Zhang
language : en
Publisher: CRC Press
Release Date : 2017-02-03

Adaptive Control For Robotic Manipulators written by Dan Zhang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-02-03 with Science categories.

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.

Adaptive Neural Network Control Of Robotic Manipulators

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Author : Tong Heng Lee
language : en
Publisher: World Scientific
Release Date : 1998

Adaptive Neural Network Control Of Robotic Manipulators written by Tong Heng Lee and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with categories.

Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

Direct Adaptive Control Algorithms

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Author : Howard Kaufman
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06

Direct Adaptive Control Algorithms written by Howard Kaufman and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.

Suitable either as a reference for practicing engineers or as a text for a graduate course in adaptive control systems, this book is a self -contained compendium of readily implementable adaptive control algorithms that have been developed and applied by the authors for over fifteen years. These algorithms, which do not require the user to identify the process parameters explicitly, have been successfully applied to a wide variety of engineering problems including flexible structure control, blood pressure control, and robotics; they are suitable for a wide variety of multiple input-output control systems with uncertainity and external disturbances. The text is intended to enable anyone with knowledge of basic linear multivariable systems to adapt the algorithms to problems in a wide variety of disciplines. Thus, in addition to developing the theoretical details of the algorithms presented, the text gives considerable emphasis to design of algorithms and to representative applications in flight control, flexible structure control, robotics, and drug-infusion control. Engineers can thus use and test these algorithms in practical problems. This second edition has been corrected and updated throughout. It makes use of MATLAB programs for some of the illustrative examples; these programs are described in the text and can be obtained from the MathWorks file server.

Model Reference Adaptive Control

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Author : Nhan T. Nguyen
language : en
Publisher: Springer
Release Date : 2018-03-01

Model Reference Adaptive Control written by Nhan T. Nguyen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-01 with Technology & Engineering categories.

This textbook provides readers with a good working knowledge of adaptive control theory through applications. It is intended for students beginning masters or doctoral courses, and control practitioners wishing to get up to speed in the subject expeditiously. Readers are taught a wide variety of adaptive control techniques starting with simple methods and extending step-by-step to more complex ones. Stability proofs are provided for all adaptive control techniques without obfuscating reader understanding with excessive mathematics. The book begins with standard model-reference adaptive control (MRAC) for first-order, second-order, and multi-input, multi-output systems. Treatment of least-squares parameter estimation and its extension to MRAC follow, helping readers to gain a different perspective on MRAC. Function approximation with orthogonal polynomials and neural networks, and MRAC using neural networks are also covered. Robustness issues connected with MRAC are discussed, helping the student to appreciate potential pitfalls of the technique. This appreciation is encouraged by drawing parallels between various aspects of robustness and linear time-invariant systems wherever relevant. Following on from the robustness problems is material covering robust adaptive control including standard methods and detailed exposition of recent advances, in particular, the author’s work on optimal control modification. Interesting properties of the new method are illustrated in the design of adaptive systems to meet stability margins. This method has been successfully flight-tested on research aircraft, one of various flight-control applications detailed towards the end of the book along with a hybrid adaptive flight control architecture that combines direct MRAC with least-squares indirect adaptive control. In addition to the applications, understanding is encouraged by the use of end-of-chapter exercises and associated MATLAB® files. Readers will need no more than the standard mathematics for basic control theory such as differential equations and matrix algebra; the book covers the foundations of MRAC and the necessary mathematical preliminaries.

Model Reference Adaptive Control Of Mechanical Manipulators

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Author : Roberto Horowitz
language : en
Publisher:
Release Date : 1983

Model Reference Adaptive Control Of Mechanical Manipulators written by Roberto Horowitz and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1983 with Adaptive control systems categories.

Adaptive Control Of Robot Manipulators

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Author : An-Chyau Huang
language : en
Publisher: World Scientific
Release Date : 2010

Adaptive Control Of Robot Manipulators written by An-Chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology & Engineering categories.

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.

Adaptive Neural Network Control Of Robotic Manipulators

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Author : Shuzhi S. Ge
language : en
Publisher: World Scientific Series In Robotics And Intelligent Systems
Release Date : 1998

Adaptive Neural Network Control Of Robotic Manipulators written by Shuzhi S. Ge and has been published by World Scientific Series In Robotics And Intelligent Systems this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with Technology & Engineering categories.

Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an "on-and-off" fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.