Experimental validation of an L1 controller on a single robotic manipulator on a moving platform and a robotic cooperative network
Rodriguez Reina, Andres
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https://hdl.handle.net/2142/98094
Description
Title
Experimental validation of an L1 controller on a single robotic manipulator on a moving platform and a robotic cooperative network
Author(s)
Rodriguez Reina, Andres
Issue Date
2017-04-26
Director of Research (if dissertation) or Advisor (if thesis)
Dankowicz, Harry
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Adaptive control
L1 controller
Experimental validation
Networked robots
Abstract
This thesis reports on laboratory and in-field experimental results for a single robotic manipulator on a moving platform with unmodeled dynamics that aim to validate theoretical predictions for the dependence on control parameters of an L1 adaptive control strategy. The experiments verify expected bounds on the tracking error in terms of the bandwidth of a filter introduced in the control loop. Moreover, the results provide insight into different discretizations of the continuous-time formulation, suggesting that a partial discretization introduced by Cao and Hovakimyan is most suitable for a hardware implementation.
A second set of experimental results, obtained from an implementation of the L1 control framework for synchronization and consensus in networks of robotic manipulators, similarly validate theoretical predictions on the sensitivity to network communication delays and network topology.
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