| Adaptive control is an appealing control approach when a system requires variable controller gains to compensate for unknown operating parameters. Similarly, optimal control has drawn a fair degree of attention for trajectory tracking tasks. Optimal control is an example of a model-based linear controller that provides a rigorous analytical approach to obtaining a set of fixed gains for a state feedback controller. The objective of this thesis is to compare the performance of these approaches for trajectory tracking.; This thesis evaluates Model Reference Adaptive Control (MRAC) as compared with (1) conventional Proportional-Velocity (PV) control and (2) Linear Quadratic Regulator Tracking (LQRT) control. Simulation studies were conducted on two electromechanical servosystems, a DC servomotor and a two-link robotic manipulator. Experimental studies were conducted with a single DC servomotor apparatus. Tests evaluated the ability of each system to track step, ramp, sinusoidal and circular trajectories. The effect of parameter changes on system tracking performance was also examined. (Abstract shortened by UMI.)... |
