Maruthi R. Akella

Learn More
A novel adaptive control solution to robot manipulator control problems is presented, based on a noncertainty equivalent approach. The key idea involves a new filter construction for the regressor terms within the governing dynamics that enables the establishment of a stabilizing mechanism within the adaptation process for unknown parameters. Viewed in the(More)
| An adaptive attitude control law is presented that realizes linear closed-loop dynamics in the attitude error vector. The Modiied Rodrigues Parameters (M-RPs) are used as the kinematic variables since they are non-singular for all possible rotations. The desired linear closed-loop dynamics can be of either PD or PID form. Only a crude estimate of the(More)
This paper studies the problem of position-tracking adaptive control for planar robotic manipulators through visual servoing under a fixed-camera configuration. The uncertain parameters enter through two separate channels: 1) through the robot dynamics in terms of constant linearly appearing inertia values and 2) nonlinearly appearing camera calibration(More)
Acknowledgments I wish to thank the multitudes of people who helped me. The first one on the list is my supervisor Dr. S. Joe Qin, who patiently introduced me into the system identification and fault diagnosis areas. Without his guidance and support I will never finish this work at this point. I would like to thank Dr. Dr. Maruthi Ram Akella, has offered(More)