MARC details
| 000 -LEADER |
|---|
| fixed length control field |
03694ntm a2200337 i 4500 |
| 003 - CONTROL NUMBER IDENTIFIER |
|---|
| control field |
MY-KuUP |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
|---|
| control field |
20260407130222.0 |
| 006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS |
|---|
| fixed length control field |
t||||fr|||| 000 0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
|---|
| fixed length control field |
ta |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
|---|
| fixed length control field |
260407t20252025my a|||fr|||| 000 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
THE0010442 (Local) |
| Qualifying information |
Hardback |
| 040 ## - CATALOGING SOURCE |
|---|
| Original cataloging agency |
UMPSA |
| Language of cataloging |
eng |
| Transcribing agency |
UMPSA |
| Description conventions |
rda |
| 090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN) |
|---|
| Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) |
FTKEE .I85 2025 r Thesis |
| 100 1# - MAIN ENTRY--PERSONAL NAME |
|---|
| Personal name |
Mohd Iskandar Putra Bin Azahar, |
| Relator term |
author. |
| 245 10 - TITLE STATEMENT |
|---|
| Title |
Improved prescribed performance control for dynamic motion of a pneumatic gripper robot / |
| Statement of responsibility, etc. |
Mohd Iskandar Putra Bin Azahar |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
Kuantan, Pahang : |
| Name of producer, publisher, distributor, manufacturer |
UMPSA, |
| Date of production, publication, distribution, manufacture, or copyright notice |
© 2025 |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Date of production, publication, distribution, manufacture, or copyright notice |
© 2025 |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
xx, 163 pages ; |
| Other physical details |
illustrations ; |
| Dimensions |
30 cm. + |
| Accompanying material |
1 CD-ROM. |
| 336 ## - CONTENT TYPE |
|---|
| Source |
rdacontent |
| Content type term |
text |
| 337 ## - MEDIA TYPE |
|---|
| Source |
rdamedia |
| Media type term |
unmediated |
| 338 ## - CARRIER TYPE |
|---|
| Source |
rdacarrier |
| Carrier type term |
volume |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
|---|
| Source |
rda |
| File type |
text file |
| Encoding format |
PDF |
| 500 ## - GENERAL NOTE |
|---|
| General note |
Faculty of Electrical and Electronics Engineering |
| 502 ## - DISSERTATION NOTE |
|---|
| Dissertation note |
Thesis (Doctor of Philosophy) -- Universiti Malaysia Pahang - 2025 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
|---|
| Bibliography, etc. note |
Includes bibliographical references |
| 520 3# - SUMMARY, ETC. |
|---|
| Summary, etc. |
Pneumatic robots offer significant advantages in compliance, power-to-weight ratio, and speed, but their use is hindered by significant control challenges. The inherent nonlinearities from air compressibility, stiction, and friction, combined with unmodeled system uncertainties and sudden external disturbances, cause conventional model-free control methods (like standard PID) to struggle. This results in poor tracking performance, oscillations, and instability, particularly during dynamic tasks. This research addresses this gap by proposing and validating the progression of adaptive Prescribed Performance Control (PPC) methods. These methods are integrated with a PID inner-loop to guarantee high performance for a tri-pneumatic grasper (TPG) robot without requiring a complex system model. The methodology first addresses finger positioning by developing a Finite-Time PPC (FT-PPC), which solves the asymptotic convergence of conventional PPC, enabling user-defined settling times. For the more dynamic task of pressure regulation, a Variable Convergence Rate PPC (VCRPPC) is introduced to provide a more flexible and aggressive adaptive control envelope. Finally, to ensure safe physical interaction, a Dynamic Error PPC (DEPPC) is formulated to solve the critical problem of control singularity, incorporating a pressure-based force estimator to robustly manage external forces. Experimental results from the physical TPG testbed validate the efficacy of each proposed controller in its specific domain. The FT-PPC eliminated overshoot and achieved a 0.3-second settling time with a 49% improvement in rise time for positioning. The VCRPPC excelled in pressure regulation, demonstrating a 63% faster transient response and a 78% reduction in steady-state error. Most critically, the DEPPC proved robust for dynamic interaction, achieving an 84% faster rise time and a 78% reduction in tracking error under applied forces, all while successfully preventing the control singularity that caused other controllers to fail. In conclusion, this progressive development of adaptive PPC methods provides a significant contribution by demonstrating a clear pathway to achieving high-performance, guaranteed control for complex pneumatic systems. The proposed frameworks successfully enhance the TPG's static and dynamic control, improving response time, accuracy, and stability, proving their practical effectiveness for advanced pneumatic robotic challenges. |
| 610 20 - SUBJECT ADDED ENTRY--CORPORATE NAME |
|---|
| Corporate name or jurisdiction name as entry element |
Faculty of Electrical and Electronics Engineering |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Universities and colleges |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Theses |
| General subdivision |
Dissertations |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Source of classification or shelving scheme |
Library of Congress Classification |
| Koha item type |
Thesis |