Document Type
Thesis
Date of Award
5-31-1990
Degree Name
Master of Science in Electrical Engineering - (M.S.)
Department
Electrical and Computer Engineering
First Advisor
Edwin Hou
Second Advisor
Irving Y. Wang
Third Advisor
Yun Q. Shi
Abstract
A complex industrial application of robotic manipulators are beyond the capability of the relatively simple constant gain linear control system. They compensate poorly for nonlinear dynamic model and environment changes, especially when the plant model comes with the unknown coefficients. An adaptive controller for a two joints robotic arm is designed in this thesis. Firstly, the highly coupled nonlinear model is linearized, and then an adaptive regulator is employed which adjust the controller parameters directly based on the on-line parameter estimation, where a least square identification is used. At last the computer simulation is also performed.
Recommended Citation
Wen, Xiao-Tian, "An adaptive robotic controller with high robustness" (1990). Theses. 2992.
https://digitalcommons.njit.edu/theses/2992
