Date of Award
1989
Document Type
Thesis
Publication Status
Version of Record
Submission Date
October 2026
Thesis/Dissertation Advisor [Chair]
Zilouchian, Ali
Abstract
In this thesis, a novel two-dimensional learning control scheme for robot manipulators is proposed. The convergence of the scheme for a general n-degree of freedom robot is shown. In the next part of the thesis, an algorithm for the approximation of a two-dimensional causal, recursive, separable-in-denominator (CRSD) filter, using the impulse response and autocorrelation data, is presented. The stability of the designed filter is discussed and it is shown that the approximated filter is always stable. The simulation results for the approximation technique as well as the two-dimensional learning control scheme are also included in the thesis.
Extent
131 p.
Recommended Citation
Gautam, Ashutosh., "Two-dimensional approximation and learning control of robot manipulators" (1989). Electronic Theses and Dissertations 1980 - 1989. 780.
https://digitalcommons.fau.edu/etd_general_3/780
Identifier
FADT14559
Comments
College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.E.)--Florida Atlantic University, 1989.|College of Engineering and Computer Science