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 20 of 25 for “"Model Reference Adaptive Control (MRAC)"”.
-
Sensitivity methods and slow adaptation
In many existing model reference adaptive control (MRAC) schemes, the plant order and relative degree are assumed known. Then a full-order control parameterization is specified which allows for an exact transfer function match between the closed-loop plant and a reference model. Often for plants of …
-
Adaptive Control of Micro Air Vehicles
Although PID controllers work well on Miniature Air Vehicles (MAVs), they require tuning for each MAV. Also, they quickly lose performance in the presence of actuator failures or changes in the MAV dynamics. Adaptive control algorithms that self tune to each MAV and compensate for changes in the …
-
Data-Driven, Non-Parametric Model Reference Adaptive Control Methods for Autonomous Underwater Vehicles
This thesis details the implementation of two adaptive controllers on autonomous underwater vehicle(AUV) attitude dynamics starting from the standard six degree-of-freedom dynamic model. I apply two model reference adaptive control (MRAC) algorithms which make use of kernel functions for learning …
-
Adaptive control for one-DOF finger rehabilitation robot
This project presents one of an adaptive control technique to control the DC motor for one-DOF (Degree of Freedom) finger rehabilitation robot. Many different types of controllers are used to provide accurate positioning of the of the DC motor for the rehabilitation robot. One of the common used in …
-
Advanced Control Design of an Autonomous Line Painting Robot
… as the major sensor of the robot. Advanced control theory was introduced to this thesis as well. Three different controllers were developed. The Proportional-Integral (PI) controller with an anti-windup feature was designed to overcome the drawbacks of the traditional PI controller. Model …
-
Guidance and Control System for VTOL UAVs operating in Contested Environments
… of an integrated guidance, navigation, and control system for vertical take-off and landing (VTOL) autonomous unmanned aerial vehicles (UAVs) such that they may map complex environments that may be hostile. The first part of this thesis presents an autonomous guidance system. For goal …
-
Adaptive Control Techniques for Transition-to-Hover Flight of Fixed-Wing UAVs
… both Proportional, Integral, Derivative (PID) Control and Model Reference Adaptive Control (MRAC) with the goal of making the controllers robust enough so that anyone in the ArduPilot community could use their own ArduPilot board and their own fixed-wing airframe (as long as it has enough power …
-
Investigation into iterative feedback control
… chosen was a DC motor configured for speed control. The inertia of the load for the DC motor is varied to ensure that the algorithm will make the necessary adjustments to compensate for changes in load. Since the IFT is closely related to the well known Model Reference Adaptive Control …
-
Design and Simulation of a Model Reference Adaptive Control System Employing Reproducing Kernel Hilbert Space for Enhanced Flight Control of a Quadcopter
… kernel Hilbert spaces (RKHSs) into the model reference adaptive control (MRAC) framework to enhance the control systems of quadcopters. Traditional MRAC systems, while robust under predictable conditions, can struggle with the dynamic uncertainties typical in unmanned aerial vehicle …
-
A design procedure for model reference adaptive control
… study, we assess the robustness of four distinct control approaches: pole placement; the command generator tracker (CGT) approach to model reference control; model reference adaptive control (MRAC); and MRAC using a fixed feedback gain. We use a second order, single-input single-output (SISO) …
-
On the Stability and Robustness of Discrete Uncertain Systems
<p>Model reference adaptive control (MRAC) is a well-established control design framework for ensuring closed-loop system stability and reference tracking performance in dynamical systems with uncertainties. Nominal, fixed-gain controllers rely on accurate mathematical models to guarantee desired …
-
Design and implementation of a novel lightweight soft upper limb exoskeleton using pneumatic actuator muscles
… behaviour, moreover, geometrical and numerical models are compared to the experimental results to validate the results. A developed control approach to control the soft arm is implemented to validate the design. Model reference adaptive control (MRAC) to control the arm using (Proportional, …
-
Analytical and experimental study of control effort associated with model reference adaptive control
… decade, researchers have shown much interest in control and identification of Large Space Structures (LSS). Our inability to model these LSS accurately has generated extensive research into robust controllers capable of maintaining stability in the presence of large structural uncertainties as …
-
Stability Limits of Uncertain Systems in the Presence of Unmatched Coupled Dynamics and Actuator Dynamics with Adaptive Architectures
… limitations, we first employ standard model reference adaptive control (MRAC) architectures. We then proposed two architectures: modified hedging reference modeled based MRAC and modified expanded reference model based MRAC. In order to deal with coupled dynamics, we used an observer …
-
Model reference adaptive control for one dof hand rehabilitation robot
This project presents one type of adaptive control technique to control the position of Direct Current (DC) motor for one-DOF rehabilitation robot. A DC motor is generally act as actuator in one-DOF rehabilitation robot and usually the robots are developed without gearing or reducer to make them …
-
Adaptive Control Combined with Integral Concurrent Learning for Trajectory Tracking Near Asteroids
… shape enables high-fidelity gravitational modeling, such information is typically unavailable in realistic mission scenarios, and in-situ exploration is often required. As a result, the forces acting on the spacecraft cannot be modeled accurately in advance, leading to significant …
-
Dynamic Braking Control for Accurate Train Braking Distance Estimation under Different Operating Conditions
The application of Model Reference Adaptive Control (MRAC) for train dynamic braking is investigated in order to control dynamic braking forces while remaining within the allowable adhesion and coupler forces. This control method can accurately determine the train braking distance. One of the …
-
Adaptive Control of an Aeroelastic System for Active Flutter Suppression and Disturbance Rejection
… This motivates the implementation of advanced control methods to control aeroelastic systems over a range of flight conditions, suppress and delay the onset of flutter, and compensate for disturbances, actuator dynamics, and unmodeled nonlinear dynamics.</p> <p>This dissertation first develops …
-
Adaptive Control of the Transition from Vertical to Horizontal Flight Regime of a Quad-Tailsitter UAV
… for a tailsitter UAV that includes the dynamic modeling, control design, simulation, vehicle design, vehicle prototype fabrication, and testing of a tailsitter UAV. The goal of this process was to design a robust controller that is able to handle uncertainties in the system's parameters and …
-
Automatic Control Strategies of Mean Arterial Pressure and Cardiac Output. MIMO controllers, PID, internal model control, adaptive model reference, and neural nets are developed to regulate mean arterial pressure and cardiac output using the drugs sodium Nitroprusside and dopamine
… and chronic kidney disease. If blood pressure is controlled and oscillations in the hemodynamic variables are reduced, patients experience fewer complications after surgery. In clinical practice, this is usually achieved using manual drug delivery. Given that different patients have different …
Page 1 of 2