2026-09-21T02:29:22Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/98094 2023-07-11 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Dankowicz, Harry Rodriguez Reina, Andres 2017-09-29T16:37:43Z 2017-09-29T16:37:43Z 2017-04-26 2017-05 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. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-09-29 without embargo terms The student, Andres Rodriguez Reina, accepted the attached license on 2017-04-25 at 21:11. The student, Andres Rodriguez Reina, submitted this Thesis for approval on 2017-04-25 at 21:22. This Thesis was approved for publication on 2017-04-26 at 16:38. DSpace SAF Submission Ingestion Package generated from Vireo submission #11077 on 2017-09-29 at 11:25:37 Made available in DSpace on 2017-09-29T16:37:43Z (GMT). No. of bitstreams: 2 RODRIGUEZREINA-THESIS-2017.pdf: 8816377 bytes, checksum: 5bc28f62e666355c940726072a33ad03 (MD5) LICENSE.txt: 4219 bytes, checksum: 2862cab9ffddfc0c8b6559c6cf14e630 (MD5) Previous issue date: 2017-04-26 application/pdf http://hdl.handle.net/2142/98094 en Copyright 2017 Andres Rodriguez Reina Adaptive control L1 controller Experimental validation Networked robots Experimental validation of an L1 controller on a single robotic manipulator on a moving platform and a robotic cooperative network text text Mechanical Sci & Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Thesis M.S.