Robotics Automation

Download Adaptive Control of Robot Manipulators: A Unified by An-chyau Huang PDF

By An-chyau Huang

This publication introduces an unified functionality approximation method of the regulate of doubtful robotic manipulators containing normal uncertainties. it really works at no cost house monitoring keep an eye on in addition to compliant movement regulate. it truly is acceptable to the inflexible robotic and the versatile joint robotic. in spite of actuator dynamics, the unified process continues to be possible. these kind of positive aspects make the booklet stick out from different current courses.

Show description

Read or Download Adaptive Control of Robot Manipulators: A Unified Regressor-free Approach PDF

Similar robotics & automation books

Flexible Robot Manipulators: Modelling, simulation and control

This e-book stories contemporary and new advancements in modeling, simulation and keep watch over of versatile robotic manipulators. the fabric is gifted in 4 particular elements: a number of modeling methods together with classical recommendations according to the Lagrange equation formula, parametric methods according to linear input/output types utilizing process id options and neuro-modeling techniques; numerical modeling/simulation strategies for dynamic characterization of versatile manipulators utilizing the finite distinction, finite point, symbolic manipulation and customised software program options; more than a few open-loop and closed-loop keep an eye on suggestions in accordance with classical and sleek clever keep watch over tools together with soft-computing and shrewdpermanent constructions for versatile manipulators; and software program environments for research, layout, simulation and keep an eye on of versatile manipulators.

Design Of Nonlinear Control Systems With The Highest Derivative In Feedback

This targeted e-book provides an analytical uniform layout method of continuous-time or discrete-time nonlinear keep watch over procedure layout which promises wanted brief performances within the presence of plant parameter diversifications and unknown exterior disturbances. All effects are illustrated with numerical simulations, their useful value is highlighted, they usually can be used for real-time regulate approach layout in robotics, mechatronics, chemical reactors, electric and electro-mechanical platforms in addition to plane keep watch over structures.

Intelligent Control Systems with an Introduction to System of Systems Engineering

From aeronautics and production to healthcare and catastrophe administration, structures engineering (SE) now makes a speciality of designing functions that be certain functionality optimization, robustness, and reliability whereas combining an rising team of heterogeneous platforms to achieve a standard objective. Use SoS to Revolutionize administration of enormous companies, Factories, and platforms clever regulate platforms with an advent to process of platforms Engineering integrates the basics of man-made intelligence and structures keep watch over in a framework acceptable to either uncomplicated dynamic platforms and large-scale method of structures (SoS).

Regelungstechnik 1: Systemtheoretische Grundlagen, Analyse und Entwurf einschleifiger Regelungen

Das Lehrbuch zielt auf ein tiefgr? ndiges Verst? ndnis dynamischer Systeme und Regelungsvorg? nge. Dabei beginnt der Autor mit Zeitbereichsbetrachtungen im Zustandsraum und geht erst danach zur Frequenzbereichsdarstellung ? ber. Praktische Beispiele u. a. aus Elektrotechnik und Maschinenbau illustrieren die Anwendung der behandelten Methoden.

Extra resources for Adaptive Control of Robot Manipulators: A Unified Regressor-free Approach

Sample text

Examples of orthonormal functions Since there are many areas of applications of orthonormal functions, a sizable body of literature can be easily found. In this section, we consider some of the orthonormal functions that are frequently encountered in engineering problems and useful in our applications. 4 Orthogonal Functions 19 1. Taylor polynomials In the calculus courses, it is well known that given a function f ( x) and a point c in the domain of f, suppose the function is n-times differentiable at c, then we can construct a polynomial Pn ( x) = f (c) + f '(c)( x − c) + +⋯ + f ′′ (c) ( x − c) 2 2!

34 Chapter 2 Preliminaries Since this representation is compatible to all conventional matrix operations, it is used in this book for representing functions, vectors and matrices. Representation 3: In the above representations, all matrix elements are approximated by the same number of orthonormal functions. In many applications, however, it may be desirable to use different number of orthonormal functions for different matrix elements. ,m as f i (x) = w Tf i z f i (10) where w fi , z fi ∈ℜ pi ×1 and pi is the number of terms of the basis functions selected to approximate fi.

The following are the first 7 polynomials L0 ( x) = 1 L1 ( x) = − x + 1 L2 ( x ) = x 2 − 4 x + 2 (10) 22 Chapter 2 Preliminaries L3 ( x) = − x 3 + 9 x 2 − 18 x + 6 L4 ( x) = x 4 − 16 x 3 + 72 x 2 − 96 x + 24 L5 ( x) = − x 5 + 25 x 4 − 200 x 3 + 600 x 2 − 600 x + 120 L6 ( x) = x 6 − 36 x 5 + 450 x 4 − 2400 x 3 + 5400 x 2 − 4320 x + 720 L7 ( x) = − x 7 + 49 x 6 − 882 x 5 + 7350 x 4 − 29400 x 3 +52920 x 2 − 35280 x + 5040 6. Bessel polynomials The set of Bessel polynomials is orthogonal with respect to the weight function p( x) = x on the interval [0,b] in the form ∫ b 0 xJ n (k i x) J n ( k j x)dx = 0 (11) for all i ≠ j .

Download PDF sample

Rated 4.22 of 5 – based on 41 votes