Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Adaptive control methods for mechanical manipulators: a comparative study.

Thumbnail
Download
Iconadaptivecontrolm00jama.pdf (7.694Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Jamali, Hamadi
Date
1989
Advisor
Cristi, Roberto
Second Reader
Burl, Jeff J.
Metadata
Show full item record
Abstract
A new adaptive control law for mechanical manipulators that maintains uniformly good performance over a wide range of motions and payloads is developed. This control strategy combines properties from both the Model Reference Adaptive Control and the Self Tuning Regulator Theory and serves to extend the Adaptive Model Following Control approach into using a nonlinear reference model. The design procedure is simple resulting in an overall system which is globally stable and offers itself to microcomputer implementation. The effectiveness of the approach is demonstrated on several computer simulations which compares its performances against some of the commonly known adaptive control techniques. Also presented is a comparison of the computation complexity of different methods used in deriving the dynamic equations of motion of a mechanical manipulator as well as a survey of various robot control methodologies available in the literature today.
Rights
Copyright is reserved by the copyright owner.
URI
http://hdl.handle.net/10945/26847
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Control of a Deformable Mirror Subject to Structural Disturbance 

    Allen, M.; Kim, J.J.; Agrawal, B.N. (2008);
    Future space based deployable telescopes will be subject to non-atmospheric disturbances. Jitter and optical misalignment on a spacecraft can be caused by mechanical noise of the spacecraft, and settling after maneuvers. ...
  • Thumbnail

    Optical Beam Control Testbeds 

    Martinez, T.; Agrawal, B.N. (2008);
    This paper discusses two optical beam control testbeds developed at the Spacecraft Research and Design Center, Naval Postgraduate School, to evaluate and develop control techniques for jitter and adaptive optics control. ...
  • Thumbnail

    Adaptive Non-Model-Based Vibration Control of Critical Flexible Modes in Mechatronic Systems 

    Pang, Chee Khiang; Dai, Gangquan; Lee, Tong Heng; Nagashima, Masaki (2011);
    Robust vibration control of critical flexible modes in flexible mechanical structures is crucial for synergistic integration of R&D and manufacturing of modern mechatronic systems. In this paper, an adaptive non-model-based ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.