Model
Digital Document
Publisher
Florida Atlantic University
Description
In this thesis, a novel two-dimensional learning control scheme for robot manipulators is proposed. The convergence of the scheme for a general n-degree of freedom robot is shown. In the next part of the thesis, an algorithm for the approximation of a two-dimensional causal, recursive, separable-in-denominator (CRSD) filter, using the impulse response and autocorrelation data, is presented. The stability of the designed filter is discussed and it is shown that the approximated filter is always stable. The simulation results for the approximation technique as well as the two-dimensional learning control scheme are also included in the thesis.
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