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dc.contributor.advisorWoo, Peng-Yungen_US
dc.contributor.authorYang, Shiaw-Pyngen_US
dc.date.accessioned2016-02-12T17:01:28Z
dc.date.available2016-02-12T17:01:28Z
dc.date.issued1992
dc.identifier.urihttp://commons.lib.niu.edu/handle/10843/15482
dc.descriptionIncludes bibliographical references (pages [92]-95)en_US
dc.description.abstractWith the trend of digital control in robotic application, two discrete-time model reference adaptive control schemes which can be implemented in an on-line microprocessor to eliminate the nonlinearities generated by the interactions of the three-link robotic manipulator are presented here. Without knowing the parameters of the system, we can achieve accurate trajectory tracking in a short time. The stability analysis stemmed from the Lyapunov's Direct Method. It guarantees the asymptotic stability of a system. The same as any discrete-time control systems, the time required for the computer to perform the necessary computation can result in extended sampling time, which may degrade the stability of the system. We obtain the sufficient condition of stability for discrete-time system. A set of right sampling time and weighting factors are chosen to show the highly accurate tracking. Through the MATLAB software simulation, we can see that the manipulator does follow the desired trajectory with high accuracy even tested by sinusoidal trajectory or with payload change. It proves the effectiveness of the designed controllers.en_US
dc.format.extentix, 109 pagesen_US
dc.language.isoengen_US
dc.publisherNorthern Illinois Universityen_US
dc.rightsNIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.en_US
dc.subject.lcshManipulators (Mechanisms)en_US
dc.subject.lcshAdaptive control systemsen_US
dc.subject.lcshRobots--Control systemsen_US
dc.titleDiscrete-time model reference adaptive controller design for robotic manipulatorsen_US
dc.type.genreDissertation/Thesisen_US
dc.typeTexten_US
dc.contributor.departmentDepartment of Electrical Engineeringen_US
dc.description.degreeM.S. (Master of Science)en_US


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