Electronic Resource
Observer-Based Adaptive Control
| العنوان: | Observer-Based Adaptive Control |
|---|---|
| المؤلفون: | Calugi, Francesco |
| بيانات النشر: | Lunds universitet/Institutionen för reglerteknik 2002 |
| نوع الوثيقة: | Electronic Resource |
| مستخلص: | The work present in this master thesis relates to output feedback adaptive control and observer design of nonlinear systems, and in particular of robot manipulators. A continuous-time velocity observer and a discrete-time adaptive velocity observer for robots are shown, and an observer backstepping controller is also proposed, which can be used together with both the observers. The resulting closed-loop system is proven to be semiglobally asymptotically stable with respect to both the velocity observation error and the tracking error, and stable with respect to the parameter estimation error. Furthermore an on-line parameter estimation method for a class of nonlinear system is presented, which can be easily extended for the robot equation. Unfortunately the way to use it in combination with the previous observer-controller has not been found and it has not been used in the experiments. In the Appendix A some technical details about the al-gorithm implementation are included, and in the Appendix B a paper already submitted to the 2002 Conference in Decision and Control is included, in which the adaptive output-feedback control scheme is extended for ship control. All the work has been conducted in the Department of Automatic Control, Lund Institute of Technology, Lund University. |
| مصطلحات الفهرس: | Technology and Engineering, H3 |
| URL: | |
| الاتاحة: | Open access content. Open access content |
| ملاحظة: | application/pdf English |
| Other Numbers: | LBT oai:lup-student-papers.lub.lu.se:8848141 ISSN: 0280-5316 1012888689 |
| المصدر المساهم: | LUND UNIV LIBR From OAIster®, provided by the OCLC Cooperative. |
| رقم الانضمام: | edsoai.on1012888689 |
| قاعدة البيانات: | OAIster |
| الوصف غير متاح. |