{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/98094"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/98094","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Experimental validation of an L1 controller on a single robotic manipulator on a moving platform and a robotic cooperative network","abstract":"This thesis reports on laboratory and in-field experimental results for a single robotic manipulator on a moving platform with unmodeled dynamics that aim to validate theoretical predictions for the dependence on control parameters of an L1 adaptive control strategy. The experiments verify expected bounds on the tracking error in terms of the bandwidth of a filter introduced in the control loop. Moreover, the results provide insight into different discretizations of the continuous-time formulation, suggesting that a partial discretization introduced by Cao and Hovakimyan is most suitable for a hardware implementation. A second set of experimental results, obtained from an implementation of the L1 control framework for synchronization and consensus in networks of robotic manipulators, similarly validate theoretical predictions on the sensitivity to network communication delays and network topology.","abstract_html":"This thesis reports on laboratory and in-field experimental results for a single robotic manipulator on a moving platform with unmodeled dynamics that aim to validate theoretical predictions for the dependence on control parameters of an L1 adaptive control strategy. The experiments verify expected bounds on the tracking error in terms of the bandwidth of a filter introduced in the control loop. Moreover, the results provide insight into different discretizations of the continuous-time formulation, suggesting that a partial discretization introduced by Cao and Hovakimyan is most suitable for a hardware implementation. A second set of experimental results, obtained from an implementation of the L1 control framework for synchronization and consensus in networks of robotic manipulators, similarly validate theoretical predictions on the sensitivity to network communication delays and network topology.","abstract_has_math":false,"creators":["Rodriguez Reina, Andres"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Dankowicz, Harry"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-09-29T16:37:43Z","date_published":"2017-09-29T16:37:43Z","updated_at":"2026-07-22T22:24:34Z","subjects":["Adaptive control","L1 controller","Experimental validation","Networked robots"],"languages":["en"],"rights":["Copyright 2017 Andres Rodriguez Reina"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/98094","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Dankowicz, Harry"]},{"key":"dc:creator","label":"Author","values":["Rodriguez Reina, Andres"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-09-29T16:37:43Z","2017-04-26","2017-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Adaptive control","L1 controller","Experimental validation","Networked robots"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2017 Andres Rodriguez Reina"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/98094"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis reports on laboratory and in-field experimental results for a single robotic manipulator on a moving platform with unmodeled dynamics that aim to validate theoretical predictions for the dependence on control parameters of an L1 adaptive control strategy. 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The experiments verify expected bounds on the tracking error in terms of the bandwidth of a filter introduced in the control loop. Moreover, the results provide insight into different discretizations of the continuous-time formulation, suggesting that a partial discretization introduced by Cao and Hovakimyan is most suitable for a hardware implementation. A second set of experimental results, obtained from an implementation of the L1 control framework for synchronization and consensus in networks of robotic manipulators, similarly validate theoretical predictions on the sensitivity to network communication delays and network topology.","Submission original under an indefinite embargo labeled 'Open Access'. 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