Control of a nonlinear underactuated system with adaptation, numerical stability verification, and the use of the LQR Trees algorithm
Name
676831500-MIT.pdf
Description
Full printable version
Size
5.36 MB
Format
Adobe PDF
Checksum (MD5)
cc208cc094e2f73d7b62398841ebb384
Author(s)
Rust, Ian Charles
Advisor(s)
Jean-Jacques E. Slotine.
Date Issued
2010
Publisher
Massachusetts Institute of Technology
Abstract
Underactuated robotics, though surrounded by an established body of work, has certain limitations when nonlinear adaptive control principles are applied. This thesis applies a nonlinear adaptative controller that avoids many of these limitations using alterations inspired by the control of a similar underactuated system, the cart-pole. Due to the complexity of the system, a sums-of-squares MATLAB toolbox is used to generate a suitable Lyapunov Candidate used for proofs of stability, with claims of local stability made using Barbalat's Lemma. This provides us with a local domain of attraction for the altered classical nonlinear adaptive controller. In addition, the algorithm known as LQR Trees is applied to the system in order to create a controller with a larger region of attraction and lower torque requirements, though without an adaptive component. Both control systems are implemented in simulations using MATLAB.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 54).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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