Thesis (M.S.)--Virginia Polytechnic Institute and State University, 1993. / Vita. Abstract. Includes bibliographical references (leaves 43-45). Also available via the Internet.

Thesis (M.S.)--University of Wisconsin--Madison, 1982. / Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 192-196).

Thesis (M. Phil.)--University of Hong Kong, 2006. / Title proper from title frame. Also available in printed format.

Thesis (Ph. D.)--University of Texas at Austin, 2006. / Vita. Includes bibliographical references.

Thesis (Ph. D.)--Ohio State University, 1986. / Includes vita. Includes bibliographical references (leaves 132-136). Available online via OhioLINK's ETD Center.

University of Macau / Faculty of Science and Technology / Department of Electromechanical Engineering

The equations of motion describing a robot's dynamics are coupled and nonlinear, making the design of an optimum controller difficult using classical techniques. In this work an explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion. The system parameters are recursively estimated at each control step using least squares. A computer simulation of the resulting scheme is performed to evaluate the controller. The simulation model is based on the first three links of an existing robot, includes motor dynamics and treats the wrist assembly as a load mass. Simulated test paths requiring movement of the outer two links indicate that the controller adapts and that its behaviour is stable and convergent. / Applied Science, Faculty of / Mechanical Engineering, Department of / Graduate

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