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Full-Text Articles in Engineering
Integrated Control Of Thermally Distorted Large Space Antennas, Robert H. Tolson
Integrated Control Of Thermally Distorted Large Space Antennas, Robert H. Tolson
Mechanical & Aerospace Engineering Theses & Dissertations
Studies on controlling the thermal distortion of large space antennae have generally investigated a single orbital position and have optimized actuator locations based on minimizing the RMS surface deviation from the original parabolic shape. One study showed the benefits of directly using far zone electric field characteristics as the performance measure; but, this approach resulted in a nonlinear programming problem. The objective of the current study is to develop an approach to designing a control system that (1) recognizes the time dependence of the distortion and (2) controls variables that are directly related to far field performance in a quadratic …
Robust Adaptive Control For Industrial Robots - A Decentralized System Method, M Liu, Christopher D. Cook
Robust Adaptive Control For Industrial Robots - A Decentralized System Method, M Liu, Christopher D. Cook
Faculty of Engineering - Papers (Archive)
An adaptive control approach is presented for the tracking control of industrial robots. The approach utilizes the fact that a robot model can be described by equations that are linear in the system's unknown parameters. Taking uncertainties into account, the resulting controller has the property of robustness. The proof of stability and analytical results of the boundness of position tracking errors are given. By introducing filter operations in state measurements, the approach avoids the difficulty of measuring the accelerations of the robots' actuators. Simulation results are also presented