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NEIGHBORING NEAR MINIMUM-TIME CONTROLS WITH DISCONTINUITIES AND THE APPLICATION TO THE CONTROL OF MANIPULATORS (PATH-PLANNING, TRACKING, FEEDBACK)

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Date Issued:
1986
Summary:
This thesis presents several algorithms to treat the problem of closed-loop near minimum-time controls with discontinuities. First, a neighboring control algorithm is developed to solve the problem in which controls are bounded by constant constraints. Secondly, the scheme is extended to account for state-dependent control constraints. And finally, a path tracking algorithm for robotic manipulators is presented, which is also a neighboring control algorithm. These algorithms are suitable for real time controls because the on-line computations involved are relatively simple. Simulation results show that these algorithms work well despite the fact that the prescribed final points can not be reached exactly.
Title: NEIGHBORING NEAR MINIMUM-TIME CONTROLS WITH DISCONTINUITIES AND THE APPLICATION TO THE CONTROL OF MANIPULATORS (PATH-PLANNING, TRACKING, FEEDBACK).
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Name(s): Zhuang, Hanqi
Florida Atlantic University, Degree grantor
Hamano, Fumio, Thesis advisor
College of Engineering and Computer Science
Department of Computer and Electrical Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1986
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 120 p.
Language(s): English
Summary: This thesis presents several algorithms to treat the problem of closed-loop near minimum-time controls with discontinuities. First, a neighboring control algorithm is developed to solve the problem in which controls are bounded by constant constraints. Secondly, the scheme is extended to account for state-dependent control constraints. And finally, a path tracking algorithm for robotic manipulators is presented, which is also a neighboring control algorithm. These algorithms are suitable for real time controls because the on-line computations involved are relatively simple. Simulation results show that these algorithms work well despite the fact that the prescribed final points can not be reached exactly.
Identifier: 14326 (digitool), FADT14326 (IID), fau:11133 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.E.)--Florida Atlantic University, 1986.
Subject(s): Manipulators (Mechanism)
Control theory
Algorithms
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14326
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.