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 34 for “"Proportional Derivative"”.
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Proportional-Derivative-Acceleration Feedback Controller Design for Single Axis Attitude Control of Rigid Spacecraft with Flexible Appendages
… for these systems and it is called PDA (Proportional Derivative Acceleration) controller. The controller is first designed using a root locus method and then applied to a simulated third order system om MATLAB. Then a higher order system model (rigid body with flexible appendage) is …
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Formation Feedback Control of UAV Flight
… A rigid formation is achieved using a proportional-derivative virtual structure with a formation feedback controller. There is an emphasis on stick controlled aerodynamics. The rigid formation is verified by a simulation of a longitudinal model. Formation control ideas are presented for …
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A Nonlinear Magnetic Controller for Three-Axis Stability of Nanosatellites
… of a spacecraft is examined. Two controllers, a proportional-derivative controller and a constant coefficient linear quadratic regulator, are applied to the system of equations describing the motion of the spacecraft. The stability of each is checked for different spacecraft configurations …
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Modeling and Slew-Maneuver Control of a Flexible Spacecraft
… controllers including the filtered proportional-derivative (PD) controllers as well as the linear quadratic regulator (LQR) controllers. Finally, the theoretical development is applied to a benchmark flexible system and a number of computer simulations are included to illustrate the …
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Characterizing The Response Of A Force Feedback Joystick
… and speed. To create this force feedback and Proportional Derivative controller was selected. By sweeping control loop parameters of a PD controller, the stability region for this joystick was found. In addition further experiments were conducted to characterize the effects of control loop …
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Design and implementation of balance control in a humanoid robot
A proportional derivative control strategy was developed for the purpose of achieving balance in a humanoid robot. An artificial muscle model was adapted which modified physiological parameters for the purpose of controlling a lightweight robot skeleton. Gains were modified as a function of joint …
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Planning and control for simulated robotic Sandia hand for the DARPA Robotic Challenge
… However, for closed-loop control, a linear proportional-derivative (PD) joint position controller was used. The nonlinear algorithms used for the planning systems may be improved, but their current functionality allows the successful completion of the manipulation qualification task. Also, …
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
… controller. Both feedback controllers use proportional-derivative of the angle of the pelvis from an inertial measurement unit. The results of the experiments are presented the efficacy of our proposed walking engine.
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An attitude determination and control system for small satellites
… a choice of two pointing controllers -- a proportional derivative controller and a nonlinear sliding mode controller. This system can reorient the spacecraft to satisfy a variety of mission objectives, but it does not enforce attitude constraints. A constrained attitude guidance system that …
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Virtual Inertia Emulation to Improve Dynamic Frequency Stability of Low Inertia Microgrids
… response proves the concept of existing proportional derivative based virtual inertia experimentally. With the addition of virtual inertia, the frequency of the system returns to the nominal frequency slower. Once the primary controller (governor control) of the system takes the action to …
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Simulation of human motion data using short-horizon model-predictive control
… These forces are then applied by a low-gain proportional-derivative component, which makes minor adjustments until the next planning cycle. The controller is fast enough for interactive systems such as games and training simulations. It requires no precomputation and little manual tuning. The …
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A Study on the Control, Dynamics, and Hardware of Micro Aerial Biomimetic Flapping Wing Vehicles
… complexity. This research finds that a proportional derivative feedback and feedforward controller applied to a nonlinear model is the most practical controller for a flapping system. Due to the complex aerodynamics of ornithopter flight, modeling and control are very difficult. Overall, …
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Alternative methods of vertical plasma control in the Alcator C-Mod Tokamak
… over the current system, which uses a proportional-derivative (PD) control system actuated through a pair of outboard equilibrium field coils (EFC). The first part of this investigation examines the possibility of using inboard ohmic heating coils (OH2) as the controlling coils. A …
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Towards A Mobile Damping Robot For Vibration Reduction of Power Lines
… the MDR and the cable. The MDR is driven by a Proportional-Derivative controller to the optimal vibration location (i.e, antinodes) as the wind characteristics vary. The numerical simulations suggest that the MDR outperforms FTMDs for vibration mitigation. Furthermore, the key parameters that …
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Computerized feedback control of an environmental chamber
… was controlled by means of a modified proportional derivative control algorithm. The system is capable of achieving a wide range of temperatures (7°C to 40°C), humidities (30% to 97%), and SO₂ concentrations. Temperature is maintained within ±0.5°C of the desired value and humidity is …
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Force control for one degree of freedom haptic device using PID Controller
… few types of conventional controller which are Proportional (P) controller, Proportional-Integral (PI) controller, Proportional-Derivative (PD) controller and Proportional-Integral-Derivative (PID) controller. The performance of the haptic device is tested with different conventional controller …
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Modeling and Control of the UGV Argo J5 with a Custom-Built Landing Platform
… of the horizon is evaluated by implementing Proportional Derivative (PD), Proportional Integral Derivative (PID), Linear Quadratic Regulator (LQR), feedback linearization, and Passivity Based Adaptive Controller (PBAC) techniques. A PD controller is used to evaluate the performance of the …
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Computationally-efficient path planning algorithms in obstacle-rich environments based on visibility graph method
… the kinematic constraint of a car-like robot, Proportional controller, Proportional-Derivative (PD) controller and Bezier curves have been implemented to ensure that the resulting paths are feasible. As a result of the proposed methods, computation time of conventional VG has been improved by …
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Vision-Assisted Control of a Hovering Air Vehicle in an Indoor Setting
… is modeled based on first principles and a proportional-derivative control method is applied for attitude stabilization and position control. A unique means of using an optic flow sensor for velocity and position estimation in an indoor setting is presented with flight results. Reliable …
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A nonlinear control algorithm for fuel optimal attitude control using reaction jets
… is a basic pulse-width modulator (PWM) with a proportional derivative controller driving the feedback loop. The second is a standard rate-ledge controller (RLC) with full-on or full-off pulse commands, while the third varies the duration of the RLC pulse commands based on the location of the …
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