Browse Dissertations and Theses - Electrical and Computer Engineering by Contributor "Spong, Mark W."

  • Rodriguez-Seda, Erick J. (2011-05-25)
    In sync with the accelerated integration of communication and control systems, this dissertation presents theoretical and experimental results on the robust control of networked Lagrangian systems with discrete-delayed ...

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  • Carias, Liliana Grajales (1988)
    The objective of this thesis is to improve the quality of the End Effector motion of a five-link, five-joint Rhino XR-3 Robot. This research topic was motivated after observing the performance of the educational Rhino XR-3 ...

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  • Holm, Jonathan K. (2008-08-13)
    This work explores regulation of forward speed, step length, and slope walking for the passive-dynamic class of bipedal robots. Previously, an energy-shaping control for regulating forward speed has appeared in the ...

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  • Gregg, Robert D., IV (2011-01-14)
    This thesis presents a hierarchical geometric control approach for fast and energetically efficient bipedal dynamic walking in three-dimensional (3-D) space to enable motion planning applications that have previously been ...

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  • Liu, Yitao (2010-08-20)
    This thesis investigates the use of an integrator backstepping controller for a standard helicopter. First, a dynamic model of the helicopter in hovering condition is obtained through the use of Newton-Euler equations. ...

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  • Bishop, Bradley Eugene (1997)
    The use of a planar robot manipulator for the air hockey problem allows for a task hierarchy under which end-effector trajectory tracking is the primary task and redundancy resolution is utilized to achieve secondary tasks. ...

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  • Anderson, Robert John (1989)
    This thesis studies the application of network theory to problems in robot and teleoperator control. Network models, referred to as Hilbert networks, are developed which extend the definition of standard electrical circuit ...

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  • Pepich, Matthew S. (2009-06-01)
    This thesis presents an implementation of an office delivery robot. First, it provides motivation for this type of project and discusses the abilities a successful delivery robot must possess. Next, the robot used for ...

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  • Bortoff, Scott A. (1992)
    A method for the construction of the pseudolinearizing controller and extended linearizing observer for single-input, multi-output nonlinear systems is presented. The technique uses spline functions to approximate the ...

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  • Al Hokayem, Peter Farid (2007)
    In this dissertation we propose semiautonomous and autonomous solutions to multi-agent problems. We first utilize the concept of input-to-state stability to address the problem of semiautonomous control of multi-agent ...

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  • Hung, John York (1989)
    The problem of robot manipulator controller design in the presence of joint flexibility is addressed. The specific goal is to design a controller that yields good tracking performance in spite of parametric uncertainty. ...

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    application/pdfPDF (4MB)Restricted to U of Illinois
  • Lindemann, Stephen R. (2008)
    Algorithms, theoretical analysis, and practical examples (as applicable) are presented for three main problems, and several variations thereon. First, the problem of a fully actuated point robot moving in a piecewise linear ...

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    application/pdfPDF (5MB)Restricted to U of Illinois
  • Pesantez Diaz, Freddy Gonzalo (2009-06-01)
    This thesis introduces some improvements to the robotic testbed in the Robotics Laboratory in the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign. The main goal was to improve the wireless ...

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