Browsing by Advisor
Now showing items 1-6 of 6
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Adaptive control of a parallel robot via backstepping technique
(2006)Parallel robots have attracted more and more attention in recent years due to their kinematical and mechanical advantages. However the complicated high nonlinear model with unknown parameters and singularities make the ... -
Design and control of a 6 DOF biped robot
(2006)This thesis is composed of the following five parts: construction of a 6 Degrees of Freedom (DOF) biped robot, control system design, analysis of forward kinematics and inverse kinematics, walking pattern planning, and ... -
Design of a 6-DOF haptic interface for robotic teleoperation
(2008)Teleoperation has become increasingly important in medical applications, handling hazardous materials, as well as in other robotics applications. Force feedback in such systems is essential; therefore a haptic device is ... -
Design, analysis and passive balance control of a 7-DOF biped robot
(2007)Biped robots have many advantages than traditional wheeled or tracked robots. They have better mobility in rough terrain and can travel on discontinuous path. The legs can also provide an active suspension that decouples ... -
Nonlinear controller design for a buck converter
(2006)This thesis presents five different nonlinear control techniques for voltage regulation of a DC-DC buck converter operating in continuous conduction mode. A state space averaging model is derived from a non-ideal buck ... -
Robust and adaptive control via backstepping technique
(2005)Most of the control systems are designed using linear techniques, which have been well developed. Practical physical systems are typically nonlinear. Nonlinear control is one of the biggest challenges in modern control ...
