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Terminal Sliding Mode Control For Rigid Robotic Manipulators With Uncertain Dynamics, Nicola Ritter
Terminal Sliding Mode Control For Rigid Robotic Manipulators With Uncertain Dynamics, Nicola Ritter
Theses: Doctorates and Masters
This thesis presents two new adaptive control laws that use the terminal sliding mode technique for the tracking problem of rigid robotic manipulators with non-linearities, dynamic couplings and uncertain parameters. The first law provides a robust scheme which uses several properties of rigid robotic mauipulators and adaptively adjusts seven uncertain parameter bounds. The law ensures finite time error convergence to the system origin and is simple to implement The second law treats the manipulator as a partially known system. The known dynamics are used to build a nominal control law and the effects of unknown system dynamics arc compensated for …
The Mobile Telephone: The Transportation Of Social Relationships, Kenneth C. Staples
The Mobile Telephone: The Transportation Of Social Relationships, Kenneth C. Staples
Theses: Doctorates and Masters
In the studies of contemporary electronic media artifacts and their effects on society, television, satellites, and computers have been extensively investigated and their various impacts well documented. With regards to telecommunication technologies, academic scholarship is somewhat less, with most comment being restricted to either historic evolution, or technical description. Exceptions to this are, Marvin's reference to the telephone in her publication, When Old Technologies Were New: Thinking About Electronic Communication in the Late Nineteenth Century (1988}, and Umble's The Amish and the telephone: resistance and reconstruction (1992). Both of these publications are used for supporting arguments in my thesis investigating …