Adaptive control methods for mechanical manipulators: a comparative study.

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Author
Jamali, Hamadi
Date
1989Advisor
Cristi, Roberto
Second Reader
Burl, Jeff J.
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Show full item recordAbstract
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.
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