A state-space approach to adaptive regulation with application to flexible manipulators.
Published: 2005
Language: eng
Number of pages: 164
Description: 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.
Notes: Source: Masters Abstracts International, Volume: 44-02, page: 1026.

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

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