Reference no: EM132482618

Topic - "Non leniar adaptive content methods"

Assignment:

Question 1. Implement a standard gradient based adaptive update law, including the aditional static friction terms. Turn in the code in such a manner that it can be implemented/veri ed that your simulation produces these results.

Question 2. Implement a repetitive learning controller (with saturations as decribed in class) for the dynamics except the static friction terms. For the static friction terms use a standard adaptive control element. Turn in the code in such a manner that it can be implemented/veri ed that your simulation produces these results.

Question 3. Provide a typed report that covers the following sections.

(a) Simulation section including (FOR EACH CONTROLLER):

1. List control gains used and their values

2. Tracking error plot for each link

3. Control input plot for each link (link 1 max torque is 250Nm, link 2 is 30Nm)

4. Plot of the adaptive estimates

5. Plot of the repetitive learning term, w^(t).

6. Plot of the parameter estimate errors (i.e., e(t))

(b) Discussion section that describes the following points:

1. Di erences in tuning the control gains/adaptation gains between the standard adaptive and RLC

2. Performance of the tracking error for each controller

3. Performance of the adaptation for each case

4. For the above three discussion topics, be sure to compare and contrast the di erent results.

Attachment:- Simulation.rar