Author Type

Graduate Student

Date of Award

1988

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Pajunen, Grazyna

Abstract

Many positioning systems with varying loads or geometries, such as robotic systems, could take advantage of the class of non-linear controllers known as Adaptive Controls. Model Reference and Pole Placement Adaptive Controllers are usually the preferred techniques for position control systems. Pole Placement is the more universally applicable technique. Adaptive controllers must be able to change control parameters as the system's parameters change (i.e., as is the case with a load or geometry change). The most common and perhaps the fastest converging technique uses the Least Squares Identification Algorithm. Many positioning systems cannot tolerate overshoot. These systems should use an adaptive velocity controller in conjunction with a conventional position controller. This will minimize system overshoot during the learning period. Adaptive controllers tend to be very complex and require a great number of computations. With today's advances in computer technology, adaptive controllers can now be economically considered for many industrial, consumer and military positioning applications.

Extent

142 p.

Comments

College of Engineering and Computer Science|Thesis (M.S.E.)--Florida Atlantic University, 1988.|FAU Electronic Theses and Dissertations Collection|College of Engineering and Computer Science

Identifier

FADT14474

Format

pdf

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