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 30 for “"L1 adaptive"”.
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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 …
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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 …
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L1-Adaptive Control for Anesthesia Delivery
… the first application of recently developed L1-adaptive control methods for the closed-loop control of anesthesia delivery during surgery. Our initial objective, described herein, is to design controllers that are robust to inter-patient variability, such that patients follow a prespecified …
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L1 adaptive control with quantization and delay
This dissertation involves L1 adaptive control development and analysis in the presence of quantization and system delays, addressing quantized uncertain systems and delayed uncertain systems. We discuss three cases of control of quantized systems: the state feedback control for systems with input …
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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 …
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Two new extensions to L1 adaptive control theory
This thesis introduces two new extensions to L1 adaptive control theory. The first is an L1 adaptive state feedback controller with generalized proportional adaptation law for a class of linear systems with input–gain uncertainties and unmatched nonlinear disturbances. The proportional adaptation …
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Robust model-based reinforcement learning using L1 adaptive control
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-08-01
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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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Distributionally robust L1 adaptive control for nonlinear ITˆO diffusion processes
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2024-08-01
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L1 adaptive control for nonlinear and non-square multivariable systems
This research presents development of L1 adaptive output-feedback control theory for a class of uncertain, nonlinear, and non-square multivariable systems. The objective is to extend the L1 adaptive control framework to cover a wide class of underactuated systems with uniform performance and …
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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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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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L1 adaptive control flight testing and extension to nonlinear reference systems with unmatched uncertainty
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2022-04-06 without embargo terms
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L1 Adaptive Control of Uncertain Nonlinear Systems with Dynamic Constraints: As Applied to Commercial Aircraft Engines
<p>L1 adaptive control for a turbofan commercial aircraft engine is developed and applied in the presences of constraint limits. Turbofan engines are a highly complex system, with a wide variety of dynamics, operating under constantly changing environmental conditions. In aircraft turbofan …
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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 …
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Verifiable Adaptive Control Solutions for Flight Control Applications
… The 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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Modeling and adaptive control of indoor unmanned aerial vehicles
… and planning. This thesis investigates modeling, adaptive control and trajectory optimization methods as applied to indoor autonomous flight vehicles in both a theoretical and experimental context. Three types of small-scale UAVs, including a custom-built three-wing tailsitter, are combined with a …
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Development of Robust Control Laws for Disturbance Rejection in Rotorcraft UAVs
… wind rejection extension for the NLDI, NLDI with adaptive artificial neural networks (ANN) augmentation, and NLDI with L1 adaptive control augmentation. A simulation environment is applied to evaluate the performance of these control algorithms under external wind conditions using a Monte Carlo …
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Guidance, control and estimation of autonomous vehicle systems
… kinematics can be used as the outer-loop, while L1 adaptive controllers are used for the inner-loop. Two different ideal agent model are considered, namely, the double integrator and the nonholonomic model. To better handle the uncertainty compensation under limited computation and sensing …
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Wavelet adaptive and predictive control with applications to chemical looping system
… thesis. An evolving structure wavelet network adaptive robust state and output feedback control, based on multiresolution analysis, is proposed for a class of nonlinear uncertain dynamical system. The robust control technique has been introduced to attenuate the effects of external …
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