Adaptive position and force control of hydraulic robots, theory, simulation and experiments
The thesis investigates the adaptive control of hydraulically-actuated manipulators using a Generalized Predictive Control (GPC) algorithm. The feasibility of applying GPC to a two-link hydraulic manipulator is first studied through computer simulation, and its control performance is compared with t...
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| Language: | en_US |
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2007
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| Online Access: | http://hdl.handle.net/1993/1099 |