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 9 of 9 for “"L1 Controller"”.
-
Experimental validation of an L1 controller on a single robotic manipulator on a moving platform and a robotic cooperative network
… for the dependence on control parameters of an L1 adaptive control strategy. The experiments verify expected bounds on the tracking error in terms of the bandwidth of a filter introduced in the control loop. Moreover, the results provide insight into different discretizations of the …
-
Augmenting L1 Adaptive Control of Piecewise Constant Type to Aerial Vehicles
… 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. The …
-
Simulink toolbox for L1 adaptive control
… presents our work on Simulink Toolbox for L1 control. It starts with a brief idea on what parameters define an L1 controller. The document then explains how our toolbox provides an interface for selecting those parameters. Following the interface is a short review of inner working of the …
-
L1 adaptive control within Learn-to-Fly
… Due to the initial (high) uncertainty levels, an L1 adaptive control law is used to provide robustness. In order to apply the L1 controller within this Learn-to-Fly framework, extensions to the L1 adaptive control theory were required to enable the linear reference systems to be updated (which …
-
Evolution of Flying Qualities Analysis: Problems for a New Generation of Aircraft
… nonlinear control systems in piloted aircraft. A L1 adaptive controller was implemented and tested in a motion based, piloted flight simulator. This is the first time that the L1 controller has been evaluated for piloted handling qualities. Results showed that the adaptive controller was able to …
-
Robust adaptive sampled-data control design for MIMO systems: Applications in cyber-physical security
This dissertation extends the L1 adaptive control theory to sampled-data (SD) framework. Multi-input multi-output non-square (underactuated) systems are considered with different sampling rates for inputs and outputs. The sampled-data framework allows to address non-minimum phase systems, subject …
-
L1 adaptive output-feedback control architectures
This research focuses on development of L1 adaptive output-feedback control. The objective is to extend the L1 adaptive control framework to a wider class of systems, as well as obtain architectures that afford more straightforward tuning. We start by considering an existing L1 adaptive …
-
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 …
-
Robust adaptive control of induction machines using the L1 control scheme
… parameters. An adaptive control scheme known as L1 adaptive control is used to ensure that this reference model behavior is realistic, so that robustness may be maintained even with very fast adaptation. This controller is limited by the flux observer used to provide information about flux …