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This thesis is concerned with the applicability of model reference adaptive control to the control of robot manipulators under a wide range of configuration and payload changes, and a comparison of the performance of this technique with that of the non-adaptive schemes. The dynamic equations of robot manipulators are highly nonlinear and are difficult to determine precisely. For these reasons there is an interest in applying adaptive control techniques to robot manipulators. In this work, the detailed performance of three adaptive controllers are studied and compared with that of a non-adaptive controller, namely, the computed torque control scheme. Computer simulation results show that the use of adaptive control improves the performance of the manipulator despite changes in the payload or in the manipulator configuration. Making use of these results, a rule-based controller is developed by dividing a given manipulation task into portions where a particular adaptive control scheme, based on a specific linearized subsystem model, performs best. This strategy of selecting the proper controller during each portion of the overall task yields a performance having the least deviation from the desired trajectory during the entire length of the task.

The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2014. / FAU Electronic Theses and Dissertations Collection

Wireless, Edge-based control and 5G networks are all examples of technologies of the emerging Industry 4.0. Understanding and evaluating these technologies is important to the development of future manufacturing and factories. However, moving from classical, wired control systems to wireless and Edge-based systems comes with new challenges such as communication delays and packet losses. The purpose of this thesis is to develop and evaluate the performance of a wireless 5G and Edge-based control system. Firstly, we aim to find the achievable end-to-end latency of three different network architectures: local control, control over wired Ethernet and control over wireless 5G. Secondly, we propose and test a conservative tuning approach on a Ball and Beam process which represents a time-sensitive and mission-critical process. The proposed conservative tuning approach is based on an Internal Model Control framework which enables an adjustment of the controller parameters based onthe worst-case measured latency. The results show that the measured latency increases as the Task interval time is increasing and as the controller is moving further away from a local level. The results also show that the introduced latency over 5G is making the system unstable if the latency is not taken into account in the design. The proposed conservative tuning approach successfully adjusts the parameters to remove this unstable behavior but degrades the control performance and shows signs of an overly conservative tuning compared to a local controller. The thesis concludes that the proposed conservative tuning approach shows promising results but would benefit from being further developed towards a latency-aware controller. This could be achieved by firstly improving the way latency is measured to enable extensive data collection. The data could then be utilized by using machine learning or time-series to predict the latency and adjust the parameters in real-time, using the proposed tuning approach.

The purpose of this thesis is to analyze and provide a deeper understanding of how the national culture of China affects the use of formal and informal management control systems of Swedish firms, operating in China. In order to conduct this research, relevant theories concerning internationalization, culture and management control systems were gathered and analyzed in relation to each other. This resulted in a conceptual framework, which illustrates the interrelationships between the concepts. Thereafter, this was used as the ground to which the empirical findings were analyzed and compared to. The analysis chapter involves a discussion of the similarities and dissimilarities between theory and empirical data, which leads to the conclusions of this study. This is lastly followed by theoretical implications, practical implications and recommendations, limitations and suggestions for further research.   The study has been conducted with a qualitative research method, in order to obtain a deeper understanding of how national culture can affect the use of  management control systems of Swedish firms in China. Further, due to the unexplored and limited research area of this complex subject, the study followed an abductive approach.   The findings of this research indicate that the Chinese culture affects the use of formal control systems, in which they are used extensively within Swedish firms, operating  in China. However, the national culture of China does not have an effect on the informal control systems of Swedish firms. Nevertheless, the use of the informal control systems should not be undermined, as the use of these triggers for more innovation and creativity among the members of an organization. This in turn could lead to Swedish firms operating more efficiently in the Chinese market. This research can be valuable for Swedish firms that wish to internationalize to the Chinese market, as well as firms operating in China with concerns regarding the use of management control systems in relation to the culture.

Background: Strategic renewal is a phenomenon where companies decide to do strategic alterations with the aim to improve their stasis in the current market (Kiesler & Sproull, 1982). This can be accomplished in several ways; in this report the focus is on management control systems and how they are incorporated in the strategic implementation process in order to drive and generate renewal. Management control systems are considered to be an important aspect of the strategy process (Simons, 1994). Purpose: The purpose of this thesis is to analyze to what extent and in what form interactive and diagnostic management control systems are employed in large organizations in order to drive strategic renewal. Methodology: This is a qualitative research with an abductive approach that is based on a single case study. Through interviews we answer how management control systems are used in the implementation process of strategic renewal on different levels of an organization; we have made ten interviews with top-, middle- and operational management.  Conclusion: Our main finding is that the process of implementing a successful strategic renewal through the adoption of MCS is not a linear one. The process is continuous and conducted in a circular manner; this also implies the interrelation of the variables.

Call number: LD2668 .T4 1960 S75

Call number: LD2668 .T4 1962 W36

Call number: LD2668 .T4 1966 H489 / Master of Science