Author Type

Graduate Student

Date of Award

1986

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Hamano, Fumio

Abstract

This thesis presents several algorithms to treat the problem of closed-loop near minimum-time controls with discontinuities. First, a neighboring control algorithm is developed to solve the problem in which controls are bounded by constant constraints. Secondly, the scheme is extended to account for state-dependent control constraints. And finally, a path tracking algorithm for robotic manipulators is presented, which is also a neighboring control algorithm. These algorithms are suitable for real time controls because the on-line computations involved are relatively simple. Simulation results show that these algorithms work well despite the fact that the prescribed final points can not be reached exactly.

Extent

120 p.

Comments

College of Engineering and Computer Science|Thesis (M.S.E.)--Florida Atlantic University, 1986.|FAU Electronic Theses and Dissertations Collection|College of Engineering and Computer Science

Identifier

FADT14326

Format

pdf

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