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 13 of 13 for “"Backstepping Control"”.
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Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle
… for the varying dynamics of the vehicle. A backstepping algorithm is developed to connect the predator-prey model commanding desired velocities to an appropriate torque controller for the motors of the vehicle. To account for the unknown dynamic model parameters an adaptive control approach …
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Backstepping Control and Transformation of Multi-Input Multi-Output Affine Nonlinear Systems into a Strict Feedback Form
… dissertation presents an improved method for controlling multi-input multi-output affine nonlinear systems. A method based on Lie derivatives of the system's outputs is proposed to transform the system into an equivalent strict feedback form. This enables using backstepping control approaches …
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Modeling, Identification, and Control of an Unmanned Surface Vehicle
… addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing …
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Spacecraft nonlinear attitude control with bounded control input
The research in this thesis deals with nonlinear control of spacecraft attitude stabilization and tracking manoeuvres and addresses the issue of control toque saturation on a priori basis. The cascaded structure of spacecraft attitude kinematics and dynamics makes the method of integrator …
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DEVELOPMENT OF ADAPTIVE ROBUST SCHEMES FOR NONLINEAR UNCERTAIN SYSTEMS
… techniques to enhance the performance of control systems applicable to some classes of nonlinear uncertain systems. Associating the adaptive control techniques with other control methods, such as backstepping control method and variable structure control method, we propose new adaptive …
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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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Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy
… design of a multirotor UAV system with a flight control scheme, communication architecture and hardware, electrical architecture and hardware, and mechanical design is presented. An Extended Kalman Filter (EKF) strategy is implemented aboard a developed Inertial Measurement Unit (IMU) to estimate …
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Control of Piecewise Smooth Systems: Generalized Absolute Stability and Applications to Supercavitating Vehicles
… great challenges for stability analysis and control synthesis for these systems. Over the years, the theory of absolute stability has been one of the few tools developed by control theory researchers to meet these challenges. For systems in which the nonlinearity is known to be bounded within …
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Grid current control methods for MV wind energy conversion systems
… generation to the power grid. Grid converter control strategies considering normal and abnormal operation have been one of most concerned points for renewable energy integration. Based on these issues, the Ph.D. project will focus on the grid converter control algorithms investigation. In …
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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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Nonlinear UAV Flight Control Using Command Filtered Backstepping
… is to <em>implement</em> a nonlinear flight control architecture, specifically flight path control via command filtered backstepping, for use in AME UAS's Fury® 1500 unmanned flying wing aircraft. Backstepping is a recursive, control-effort minimizing, constructive design procedure that …
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Adaptive Quaternion Control for a Miniature Tailsitter UAV
… itself. Such vehicles are accompanied with control challenges due to the two different flight regimes. Problems with the conventional attitude representation arise in estimation and control as the system departs from level flight conditions. Furthermore, changing dynamics and limitations in …