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 20 for “"LQR Controller"”.
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ROBUST CONTROL OF AN EVTOL THROUGH TRANSITION WITH A GAIN SCHEDULING LQR CONTROLLER
… the transition dynamics in a gain scheduling LQR attitude controller to robustly control the vehicle at any point throughout transition. The proposed control strategy is tested through implementation in nonlinear 3DOF and 6DOF simulations. The robustness of the controller is tested through …
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Deformable Object Manipulation with a Tactile Reactive Gripper
… dynamics and used a linear quadratic regulator (LQR) controller to keep the cable centered within the grip. However, the underlying dynamics are not linear, so in this work, we explore controllers that take advantage of a non-linear underlying dynamics model. We use Gaussian process (GP) …
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A pseudo-optimal control approach for a redundant degree-of-freedom in a gimbaled mechanical system
… of applying a Linear Quadratic Regulator (LQR) to the control of the redundant degree-of-freedom present in a four gimbal inertial navigation system. Equations of motion for a four gimbal system are defined and linearized. A benchmark controller is developed, using classical time and …
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Development and analysis of active rear axle steering for 8x8 combat vehicle
… proposes and compares multiple vehicle dynamics controllers using rear axle steering of an 8x8 combat vehicle. The controllers are assessed on ability to increase maneuverability at low speed, increase stability at higher speeds, avoiding rollover and ability to dampen the effects of external …
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A model analysis of an active vehicle suspension system using hydraullic control
… performance of two types of active suspension controllers and the performance of a hydraulic control system used to generate the active force. A quarter car model is used to represent the major dynamic modes for a simple active suspension. A Linear Quadratic Regulator (LQR) controller is …
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Adaptive swing-up and balancing control of acrobot systems
… an online, adaptive swing-up and balancing controller with no previous knowledge of the system's mass or geometric parameters. A least squares method is used to identify the 5 parameters necessary to completely characterize acrobot dynamics. Swing up is accomplished using partial feedback …
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Vibration control and gust alleviation of highly flexible blended-wing-body aircraft
… nominal, pre-flutter, and post-flutter. An LQR controller is then designed and implemented to examine the closed-loop dynamic responses of these same flight profiles. It is found that the controller is able to suppress vibration and wing root loading as well as delay the onset of unstable …
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Enhancing roll stability and directional performance of articulated heavy vehicles based on anti-roll control and design optimization.
… on this model a linear quadratic regulator (LQR) controller is designed to improve the rollover stability of a tractor/semi-trailer combination. A design optimization method for AHVs using genetic algorithms (GAs) and multibody vehicle system models is also presented. AHVs have poor …
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Lane departure avoidance system
… proposed a switched linear feedback (LMI) controller and provided two switching laws, which limit driver torque and displacement of the front wheels from the center of the lane. In this thesis, a state feedback (LQR) controller has been designed. Also, a new switching logic has been …
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Modelling, design, and control of a spherical rolling robot
… and used to design a linear quadratic regulator (LQR) controller. Sphere mass and center of mass location were varied across a range of values and simulated to analyze the system's ability to quickly converge to position and velocity set points. This study found that increasing the mass of the …
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Control of quad-rotor UAVs using switched-system synthesis methods
… synthesis and linear quadratic regulator (LQR) theory to control of a quad-rotor unmanned aerial vehicle (UAV). The thesis presents the development of the system dynamics, the theory of LQR and its implementation, the synthesis and simulation results of switched control of the UAV, which …
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Modeling and Control of an Active Dihedral Fixed-Wing Unmanned Aircraft
… angle and flapping rate. An ideal feedback controller was developed using a linear–quadratic regulator (LQR) for both a discrete gust model and a continuous gust model, and a gain scheduled LQR controller was implemented to show the benefits of gain scheduling with a parameter varying state …
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Convex Modeling Techniques for Aircraft Control
The need to design a controller that self-schedules itself during the flight of an aircraft has been an active area of research. New methods have been developed beyond the traditional gain-scheduling approach. One such design method leads to a linear parameter varying (LPV) controller that changes …
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Modeling the Sit-to-Stand Transition using Koopman Lifting Linearization and Human State Estimation
… the human body and a linear quadratic regulator (LQR) which guides the body to stand up. The LQR controller, tuned to replicate STS motion, guides the human body model through the phases of STS without explicit phase-switches, improving system robustness. To enhance human-robot collaboration in …
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Model Predictive Control of a Nonlinear Aeroelastic System Using Volterra Series Representations
… pitch-plunge aeroelastic systems. A linear MPC controller based on a first-order Volterra model is used to control the linear aeroelastic system, and the results are compared to those obtained using a standard LQR controller and a LQR-based MPC strategy. The controller is implemented for …
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Controller Design for a Swirl Injection Hybrid Launch Vehicle
<p>This research is focused on the design of controllers for stabilizing a launch vehicle with an internally originating torque. The motivation for this research arises from the new development of rocket engines which swirl combustion gases to gain combustion stability benefits, and in the case of …
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Robust scheduling control of aeroelasticity.
… and experimental validation of novel active controllers to suppress undesirable aeroelastic phenomena over a range of airspeeds. The controllers are constructed using a Linear Parameter Varying (LPV) framework, where the plant and controllers can be represented as linear systems which are …
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Adaptive Control of an Aeroelastic System for Active Flutter Suppression and Disturbance Rejection
… and flexible motion in the presence of a controller.</p> <p>Direct model reference adaptive control (MRAC) strategies are then implemented on the two- and three-dimensional aeroelastic systems, and the performance is compared to that obtained using a standard linear quadratic regulator …
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Accuracy Improvement in Robotic Milling Through Data-Driven Modelling and Control
… used to create a Linear Quadratic Regulator (LQR) based pose-dependent optimal controller to suppress tool tip vibrations of a 6-dof industrial robot during milling. Robotic milling experiments show that the LQR controller reduces tool tip vibration amplitudes by an average of 47%. However, …
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Steering control and Kalman filter position estimation comparison for an autonomous underwater vehicle
… a Hierarchical rule-based reduction fuzzy controller as a solution to control systems suffering from noisy feedback and affected by external current flow disturbances. Performance comparisons with LQR and Pure Pursuit controllers show that under these conditions, the hierarchical rule-base …