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January 24, 2010 | History

A state-space approach to adaptive regulation with application to flexible manipulators 1 edition

A state-space approach to adaptive regulation with application to flex ...
Edward S. C. Lee

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A state-space approach to adaptive regulation with application to flexible manipulators.

Published 2005 .
Written in English.

About the Book

The main theme of this thesis is the design of adaptive regulators that allow regulation with respect to unknown sinusoidal signals representing unknown reference signals and/or unknown disturbance signals. The design of the adaptive regulators is based on first constructing a set of Q-parameterized stabilizing controllers and then tuning the Q parameter in the expression of stabilizing controllers to yield the desired regulator. The adaptive regulation approach is formulated in a state-space framework and conditions for adaptive regulation to be achieved are presented. The proposed approach is applied to the regulation of a single flexible link manipulator where it is desired for the link tip to track a pre-specified trajectory while adaptively rejecting an unknown sinusoidal disturbance input. An extension of this work to the problem of regulation against known reference and disturbance signals while satisfying a shape constraint for the flexible manipulator is also presented.

Edition Notes

Source: Masters Abstracts International, Volume: 44-02, page: 1026.

Thesis (M.A.Sc.)--University of Toronto, 2005.

Electronic version licensed for access by U. of T. users.

GERSTEIN MICROTEXT copy on microfiche (2 microfiches).

The Physical Object

164 leaves.
Number of pages

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History Created December 11, 2009 · 2 revisions Download catalog record: RDF / JSON

January 24, 2010 Edited by WorkBot add more information to works
December 11, 2009 Created by WorkBot add works page