Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 10 of 10 for “"Actuator Model"”.
-
Control of Rapid Acceleration in a Planar Legged Robot
… resistant actuation, and proprioceptive electric actuators at the shoulder and hip for high bandwidth torque control and foot placement. Kemba is capable of bounding at up to 1.7m/s with a full flight phase, jumping just under 1mhigh (2.2 times it's nominal leg length), and accelerating from rest …
-
Application of distributed measurements for finite element model verification
… a rigorous comparison between a distributed model and distributed measurements that was not possible previously. The purpose of this work is to obtain and compare experimental and analytical distributed measurements for a simple structure excited by a point force (from a shaker) and by a …
-
Nonlinear Estimation and Control Methods for Mechanical and Aerospace Systems under Actuator Uncertainty
… onboard sensor measurements and uncertain actuator dynamics.</p> <p>In this thesis, robust nonlinear control methods are developed, which are rigorously proven to achieve reliable control of fluid flow systems under uncertain, time-varying operating conditions and actuator model …
-
Fault tolerant strategy for actively controlled railway wheelset
… forces. In the active approach, the use of actuators, sensors and data processors to replace the traditional passive suspension raises the issue of the system safety in the event of a failure of the active control, which could result in the loss of stability and in more severe cases, …
-
Analysis on actuator dynamics in active wheelsetcontrol
… evaluate the applicability and requirements of actuators in the implementation of active solid–axle wheelset control systems, for primary suspensions of the railway vehicles, and the effects of actuator dynamics on the overall active control system. The research is focused on the use of …
-
Series Elasticity in Linearly Actuated Humanoids
Recent advancements in actuator technologies, computation, and control have led to major leaps in capability and have brought humanoids ever closer to being feasible solutions for real-world applications. As the capabilities of humanoids increase, they will be called on to operate in unstructured …
-
Design and control methods for high-accuracy variable reluctance actuators
… and control techniques of a variable reluctance actuator for driving a reticle motion stage in photolithography scanners. The primary thesis contributions include the design and experimental demonstration of a magnetic flux controller that uses a sense coil measurement, the design and …
-
Intelligent Flight Control Systems Using Adaptive Deep Neural Networks and Concurrent Learning-Based Design Methods
… under aerodynamic uncertainty and complex actuator dynamics.</p> <p>The first contribution presents a control strategy employing a concurrent learning (CL)-based DNN training algorithm, which combines online adaptive DNN weight adaptation with offline batch-like training updates using a …
-
On the turbulence-generated sound and control of compressible mixing layers
"A mixing layer is a common model used to study the noise generation and mixing characteristics of the near-nozzle region of jets. This work presents three separate but related studies that investigate sound generation and active control for noise mitigation and mixing enhancement of such mixing …
-
Control and Time Integration Algorithms for Real-Time Hybrid Simulation
… and/or rate-dependent parts are often physically modelled within a realistic real-time test, while the remainder parts are simultaneously evaluated by solving differential equations. Evidently, the challenge of these methods is to enforce the coupling at the interface between portions via …