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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
Advisor(s):Dankowicz, Harry
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(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.
Issue Date:2017-04-26
Rights Information:Copyright 2017 Andres Rodriguez Reina
Date Available in IDEALS:2017-09-29
Date Deposited:2017-05

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