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 12 of 12 for “"Adaptive Control Design"”.
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ADAPTIVE CONTROL DESIGN FOR QUADROTORS
Unmanned Aerial Vehicles (UAV) control has become a very important point of scientific study. The control design challenges of a UAV make it one of the most researched areas in modern control applications. This thesis specifically chooses the Quadrotor as the UAV platform. Considering the quadrotor …
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Systematic adaptive control design using sequential loop closure
… method of synthesizing an output feedback adaptive controller for a class of uncertain, non-square multi-input/multi-output systems. The control design process consists of first designing an inner-loop controller for a reduced order plant model to enforce command tracking of selected …
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Adaptive control design with guaranteed margins for nonlinear plants
Adaptive control is one of the technologies that improve both performance and safety as controller parameters can be redesigned autonomously in the presence of uncertainties. Considerable research has been accomplished in adaptive control theory for several decades and a solid foundation has been …
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Lyapunov-Based Robust and Adaptive Control Design for nonlinear Uncertain Systems
The control of systems with uncertain nonlinear dynamics is an important field of control science attracting decades of focus. In this dissertation, four different control strategies are presented using sliding mode control, adaptive control, dynamic compensation, and neural network for a nonlinear …
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Stochastic optimal adaptive controller and communication protocol design for networked control systems
<p>"Networked Control System (NCS) is a recent topic of research wherein the feedback control loops are closed through a real-time communication network. Many design challenges surface in such systems due to network imperfections such as random delays, packet losses, quantization effects and so on. …
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A viable multivariable adaptive controller with application to autonomous helicopters
… comparable, if not superior, to manned vehicles. Control laws that meet desired performance specifications are difficult to design because of the uncertain, fully-coupled nonlinear dynamics of autonomous helicopters. Uncertainties in helicopter parameters not only change the dynamics of the system …
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Adaptive Control of Nonaffine Systems with Applications to Flight Control
Traditional flight control design is based on linearization of the equations of motion around a set of trim points and scheduling gains of linear (optimal) controllers around each of these points to meet performance specifications. For high angle of attack maneuvers and other aggressive flight …
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Verification and Validation of Robot Manipulator Adaptive Control with Actuator Deficiency
… deficiencies, in the form of an uncertain control effectiveness matrix, through adaptive control design, simulation, and experimentation. Specifically, two novel adaptive controller formulations are implemented and tested via simulation and experimentation. The proposed adaptive control …
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Trustable Adaptive Controllers for Multi-Agent Systems with Actuator Dynamics
… this dissertation investigates the distributed adaptive control design process for uncertain multi-agent systems with scalar and high-order dynamics in the presence of unknown control effectiveness and actuator dynamics. First, it provides an approach for driving a set of agents to user-assigned …
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Adaptive control for enhanced performance of devices and algorithms
… of this dissertation is to explore the use of adaptive feedback control algorithms in control-based continuation of periodic solutions of a priori unknown dynamical systems under continuous variations in system parameters, independently of their stability. The control-based continuation …
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A matlab-based toolbox for the simulation and design of L1 adaptive controllers
This thesis introduces the L1 Adaptive Control Toolbox, a set of tools implemented in Matlab that aid in the design process of an L1 adaptive controller and enable the user to construct simulations of the closed-loop system to verify its performance. Following a brief review of the existing theory …
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Robust adaptive control of induction machines using the L1 control scheme
In this thesis, a robust adaptive control scheme is proposed in order to drive an induction motor with high performance, even in the presence of unknown machine electrical parameters. Magnetic saturation within an induction motor results in nonlinear, changing flux dynamics. Also, rotor resistance …