{"id":{"repo_id":"unlv","oai_identifier":"oai:oasis.library.unlv.edu:rtds-1046"},"canonical_url":"https://search.dev.ndltd.org/etd/unlv/oai:oasis.library.unlv.edu:rtds-1046","repository":{"repo_id":"unlv","name":"University of Nevada - Las Vegas","base_url":"https://oasis.library.unlv.edu/do/oai/"},"display":{"title":"Decoupling and adaptive control and stabilization of two-link elastic robotic arm","abstract":"In this thesis the control and stabilization of a two link flexible robotic arm is considered. The first scheme is based on nonlinear inversion, a nonlinear controller is designed for the trajectory control of the joint angles using joint torquers. The inverse controller includes a servocompensator for robustness. A simplified controller has also been designed neglecting the Coriolis and Centrifugal forces; In the second scheme the control system design is based on nonlinear adaptive control and linear stabilization. First a nonlinear adaptive control law is derived such that in the closed-loop system the joint-angles are precisely controlled to track reference trajectories. A linear stabilizer designed based on a linear model of the arm is switched to accomplish the final capture of the desired state; Simulation results are presented for all cases to show that in the closed-loop system accurate joint angle trajectory tracking and elastic mode stabilization can be accomplished inspite of the uncertainity in the payload. (Abstract shortened with permission of author.) ftn*This research was supported by the U.S. Army Research Office under ARO Grant No. DAAL03-87-G-004.","abstract_html":"In this thesis the control and stabilization of a two link flexible robotic arm is considered. The first scheme is based on nonlinear inversion, a nonlinear controller is designed for the trajectory control of the joint angles using joint torquers. The inverse controller includes a servocompensator for robustness. A simplified controller has also been designed neglecting the Coriolis and Centrifugal forces; In the second scheme the control system design is based on nonlinear adaptive control and linear stabilization. First a nonlinear adaptive control law is derived such that in the closed-loop system the joint-angles are precisely controlled to track reference trajectories. A linear stabilizer designed based on a linear model of the arm is switched to accomplish the final capture of the desired state; Simulation results are presented for all cases to show that in the closed-loop system accurate joint angle trajectory tracking and elastic mode stabilization can be accomplished inspite of the uncertainity in the payload. (Abstract shortened with permission of author.) ftn*This research was supported by the U.S. Army Research Office under ARO Grant No. DAAL03-87-G-004.","abstract_has_math":false,"creators":["Das, Arijit"],"institution":"University of Nevada, Las Vegas","degree_name":"Master of Science (MS)","degree_level":"Thesis","degree_discipline":"Computer Science and Electrical Engineering","degree_department":null,"school":null,"contributors":["Sahjendra N. Singh"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1989,"date_issued":"1989-01-01T08:00:00Z","date_published":"1989-01-01T08:00:00Z","updated_at":"2026-07-24T05:23:59Z","subjects":[],"languages":["English"],"rights":["IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/"],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["https://oasis.library.unlv.edu/rtds/47"],"render_values":[{"text":"https://oasis.library.unlv.edu/rtds/47","href":"https://oasis.library.unlv.edu/rtds/47","code":true}]}]},"links":{"outbound_url":"https://doi.org/10.25669/o9n5-9tmd","outbound_label":"DOI","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Sahjendra N. 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A simplified controller has also been designed neglecting the Coriolis and Centrifugal forces; In the second scheme the control system design is based on nonlinear adaptive control and linear stabilization. First a nonlinear adaptive control law is derived such that in the closed-loop system the joint-angles are precisely controlled to track reference trajectories. A linear stabilizer designed based on a linear model of the arm is switched to accomplish the final capture of the desired state; Simulation results are presented for all cases to show that in the closed-loop system accurate joint angle trajectory tracking and elastic mode stabilization can be accomplished inspite of the uncertainity in the payload. (Abstract shortened with permission of author.) ftn*This research was supported by the U.S. Army Research Office under ARO Grant No. DAAL03-87-G-004."]},{"key":"dc:format","label":"Dc Format","values":["pdf"]},{"key":"dc:title","label":"Title","values":["Decoupling and adaptive control and stabilization of two-link elastic robotic arm"]}]}],"canonical_facts":{"dc:contributor":["Sahjendra N. Singh"],"dc:creator":["Das, Arijit"],"dc:description.abstract":["In this thesis the control and stabilization of a two link flexible robotic arm is considered. The first scheme is based on nonlinear inversion, a nonlinear controller is designed for the trajectory control of the joint angles using joint torquers. The inverse controller includes a servocompensator for robustness. A simplified controller has also been designed neglecting the Coriolis and Centrifugal forces; In the second scheme the control system design is based on nonlinear adaptive control and linear stabilization. First a nonlinear adaptive control law is derived such that in the closed-loop system the joint-angles are precisely controlled to track reference trajectories. A linear stabilizer designed based on a linear model of the arm is switched to accomplish the final capture of the desired state; Simulation results are presented for all cases to show that in the closed-loop system accurate joint angle trajectory tracking and elastic mode stabilization can be accomplished inspite of the uncertainity in the payload. (Abstract shortened with permission of author.) ftn*This research was supported by the U.S. Army Research Office under ARO Grant No. DAAL03-87-G-004."],"dc:format":["pdf"],"dc:identifier":["10.25669/o9n5-9tmd","https://oasis.library.unlv.edu/rtds/47","https://oasis.library.unlv.edu/context/rtds/article/1046/viewcontent/uc.pdf"],"dc:language":["English"],"dc:publisher":["University of Nevada, Las Vegas"],"dc:rights":["IN COPYRIGHT. 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