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 20 of 112 for “"Adaptive controller"”.
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A viable multivariable adaptive controller with application to autonomous helicopters
… As a result, these linear and nonlinear controllers are adequate at best at hover, and therefore not viable in real plants, as the unknown trim conditions and dynamics result in severe performance degradation even at moderate speeds. For an autonomous vehicle control system to be viable, …
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Adaptive Controller Development and Evaluation for a 6DOF Controllable Multirotor
… of freedom, 6DOF, motion). The development of controllers for various 6DOF controllable multirotors has been much more limited than development for quadrotors, which makes selecting a controller for a 6DOF multirotor difficult. The omnicopter is subject to various uncertainties and disturbances …
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Stochastic optimal adaptive controller and communication protocol design for networked control systems
… a suite of novel stochastic optimal adaptive design methodologies is undertaken for both linear and nonlinear NCS in presence of uncertain system dynamics and unknown network imperfections such as network-induced delays and packet losses. The design is introduced in five papers.</p> …
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Design of a decentralized model reference adaptive controller for a mobile robot
… for several years. The difficulty in designing a controller for a robotic manipulator is due to the highly nonlinear, time-varying dynamics. Closed-loop constant gain controllers are effective when the robot is expected to perform a limited range of operations. In the case of a mobile robot, the …
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Experimental Testing of a Decentralized Model Reference Adaptive Controller for a Mobile Robot
Adaptive controllers allow robots to perform a wide variety of tasks, but the extensive computations required have generated an interest in developing decentralized adaptive controllers. Horner has designed an adaptive controller for a four-degree-of-freedom mobile robot and tested it through …
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Adaptive Control using IIR Lattice Filters
This work is a study of a hybrid adaptive controller that blends fixed feedback control and adaptive feedback control techniques. This type of adaptive controller removes the requirement that information about the disturbance is known apriori. Additionally, the control structure is implemented in …
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Transitions Between Hover and Level Flight for a Tailsitter UAV
… performing transitions are described: a simple controller, a feedback linearization controller, and an adaptive controller. An autopilot navigational state machine with appropriate transitioning between level and hover waypoints is also presented. The simple controller is useful for performing a …
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L1 adaptive control augmentation system for the X-48B Aircraft
This thesis considers the application of L1 adaptive control methodology to a model of the X-48B Blended Wing Body aircraft. We explicitly verify the performance bounds of the adaptive flight control system at various flight conditions. We demonstrate that the resulting L1 adaptive controller does …
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Adaptive Collocated Feedback for Noise Absorption in Acoustic Enclosures
This thesis focuses on adaptive feedback control for low frequency acoustic energy absorption in acoustic enclosures. The specific application chosen for this work is the reduction of high interior sound pressure levels (SPL) experienced during launch within launch vehicle payload fairings. Two …
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Adaptive Control for Nonlinear, Time Varying Systems
… This thesis investigates the development of adaptive control laws to stabilize and control a class of nonlinear, time varying systems. Direct adaptive control architectures are implemented in order to compensate for time varying dynamics that could, for example, be caused by varying inertia …
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AUTOMATED MEDICATION INFUSION SYSTEM DESIGN
… degree of individual patient variability, an adaptive controller was designed. This is because robust controllers which have fixed parameters might be difficult to offer decent behavior for all patients. Secondly, since classical adaptive controllers can only be applied to linearly …
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Adaptive feedback technique for unmodeled disturbance rejection
… blends traditional fixed feedback control with adaptive feedback techniques. The objective is to provide damping for transient disturbances via the fixed controller and rejection of steady disturbances via the adaptive controller. This technique differs from other control techniques in that it …
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Constrained Motion Analysis and Control of Spacecraft Asteroid Hovering with Formulation Extension in Geometric Mechanics Framework
… is applied for nominal control, and an adaptive controller is developed to account for unknowns in the dynamics. Then, the formulation is extended in the geometric mechanics framework to account for rigid body spacecraft asteroid hovering. Constraints are developed and applied for fully …
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Active compliance control strategies for multifingered robot hand
… the proportional–integral–derivative (PID) controller. Meanwhile, the implementation of impedance control employs the integral slidingmode controller (ISMC) and adaptive controller. A series of experiments and simulations is used to demonstrate the fundamental principles of robot grasping. …
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Adaptive Process Control for Achieving Consistent Mean Particles' States in Atmospheric Plasma Spray Process
… we use a science-based methodology to develop an adaptive controller for achieving consistent MPSs. We first identify inputs into the APSP that significantly affect the MPSs, and then formulate a relationship between these two quantities. When the MPSs deviate from their desired values, the …
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Verifiable Adaptive Control Solutions for Flight Control Applications
… approach taken in this dissertation is the L1 adaptive control, which is elaborated from its design perspective for output feedback solution and is extended to time-varying reference systems to support augmentation of gain-scheduled baseline controllers. Compared to conventional adaptive …
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Performance and Robustness of Adaptive Controllers for Linear Stochastic Systems
… of performance as well as robustness of an adaptive controller for linear stochastic systems. Regarding the performance problem, we consider the issue of convergence of the parameter estimates with respect to the stochastic gradient algorithm and the modified least squares algorithm. As to …
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Evaluation of an adaptive control algorithm for use in uniform droplet spray in droplet based manufacturing
… the current integral control system with an adaptive control system for potential use in a Uniform Droplet Spray Process. First, an adaptive control algorithm was derived. Then, this algorithm and the existing integral control algorithm were coded for use in MATLAB simulations. The …
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Enhancement of lateral stability of car-trailer systems using model-reference adaptive control
… a Lyapunov-Stability-based Model Reference Adaptive Controller (MRAC) for an active trailer steering system to enhance the lateral stability of CT systems considering parametric uncertainties and unknown dynamics of the actuator. To this end, a reference model is designed using a 3-DOF …
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Augmenting L1 Adaptive Control of Piecewise Constant Type to Aerial Vehicles
… full airspeed and altitude flight envelope. An adaptive controller could possibly add value by increasing performance while keeping robustness to deviation from nominal assumptions. In this thesis L1 adaptive control is studied and evaluated as it is applied to a pitch-unstable fighter aircraft. …
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