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.
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Showing 1 to 14 of 14 for “"Actuator saturation"”.
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Proton beam steering control system for high precision radiotherapy at iThemba LABS : an investigation on actuator saturation constraints
This thesis aims at studying some of the techniques used to deal with constraints with special application to the Proton beam steering control at iThemba LABS. The steering of charged particles occurring in research plants is one of the interests of control systems. In this work an investigation of …
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A Comparison of PID and Sliding Mode Controllers When Applied to the Orbit Raising of a Satellite Using Solar Sail Propulsion
… the shortcomings of commonly used control actuators, specifically reaction wheels, when applied to solar sails. This thesis will research how a sliding mode controller compares to a PID controller with respect to settling time and state response error over a range of maximum reaction wheel …
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Control of linear switched systems using state feedback with saturation constraints
… as the performance criterion, incorporating actuator saturation constraints into this optimal synthesis. Necessary and sufficient conditions are presented for the existence of a stabilizing static state feedback controller subject to saturation constraints, together with a constructive method …
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Analysis and traction control of a rocker-bogie planetary rover
… physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and …
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Control Structures for Low-Emission Combustion in Multi-Cylinder Engines
… control structure can address the problem of actuator saturation. In a fumigation engine, control was proven to be a powerful tool for automatic calibration in a laboratory setting. In a direct injection engine, LQG controllers were designed to optimize an emissions trade-off cost function …
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Adaptive control of hypersonic vehicles
… uncertainties, center-of-gravity movements, actuator saturation, failures, and time-delays. The adaptive control architecture is based on a linearized model of the underlying rigid body dynamics and explicitly accommodates for all uncertainties. Within the control structure is a baseline …
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Maneuver and control of flexible spacecraft
… to suppress the vibrations during the maneuver. Actuator dynamics cause a degradation of control performance. The inclusion of the actuator dynamics in the control formulation partially offsets this effect. The performance of these control techniques is adversely affected by actuator saturation …
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Inclusion of input saturation in the design of dynamically operable plants
… considered the rigorous inclusion of input saturation effects in optimizing control. Actuator saturation introduces discontinuities in the system model and, to avoid potential problems using a sequential optimization approach, two alternative formulations were proposed for solving the …
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DESIGN AND CONTROL OF A ROBOTIC SYSTEM TO ASSIST WITH MRI-GUIDED INTERVENTIONS
… advantages in terms of set point tracking and actuator saturation over the baseline PID controller.
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Formation control of multiple robots under packet loss
… as scenarios with initial offset conditions, actuator saturation, and the presence of external disturbances like sensor noise and wind. These tests demonstrated LSTM’s capability to maintain formation control accuracy in challenging environments, making it well-suited for practical …
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Consensus Seeking, Formation Keeping, and Trajectory Tracking in Multiple Vehicle Cooperative Control
… the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory …
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Stability analysis and control for bipedal locomotion using energy methods
… computed taking into account the robustness and actuator saturation. Once a trajectory diverges from a basin of attraction, we switch the current controller to one that includes the trajectory in its basin of attraction. Numerical simulations confirm that a set of limit cycles can be used to …
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Distributed parameter control of heat diffusion with solidification
… namely non-symmetric boundary conditions and actuator saturation, and performs admirably. The controller still uses a software sensor, as in the first part, so the uncertainty of the model is quantitatively examined. Finally, some additional unproven conjectures are offered that are based on …
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Metody anti-windup při řízení lineárních dynamických systémů
Cílem této bakalářské práce je studovat windup jev a metody jeho potlačení. Představenými metodami jsou clamping, back-calculation, řízení s vnitřním modelem soustavy a návrh pomocí LMI. Pro poslední dvě zmíněné metody byla vytvořena aplikace pro Matlab. Tyto metody byly následně otestovány na …