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 56 for “"Robust Adaptive"”.
-
Robust Adaptive Signal Processors
Standard open loop linear adaptive signal processing algorithms derived from the least squares minimization criterion require estimates of the N-dimensional input interference and noise statistics. Often, estimated statistics are biased by contaminant data (such as outliers and non-stationary data) …
-
Robust adaptive control and filtering
This thesis examines the robustness properties of various adaptive systems for control, filtering, and identification. These include the uniform boundedness or mean-square boundedness of all closed-loop signals (robust boundedness, robust ultimate boundedness), the closed-loop system tracking error …
-
Robust adaptive high-order RANS methods
… resolved for an accurate solution. Higher-order adaptive methods are attractive candidates for addressing these deficiencies by promising accurate solutions at a reduced cost in a highly automated fashion. However, these methods in general are still not robust enough for industrial applications …
-
Robust adaptive control of switched systems
In this thesis, robust adaptive controllers are developed for classes of switched nonlinear systems. Switched systems are those governed by differential equations, which undergo vector field switching due to sudden changes in model characteristics. Such systems arise in many applications such as …
-
Robust adaptive control of uncertain nonlinear systems
In this thesis, robust adaptive control is investigated for uncertain nonlinear systems. The main purpose of the thesis is to develop adaptive control strategies for several classes of general nonlinear systems in strict-feedback form with different uncertainties including unknown parameters, …
-
Robust adaptive control in the presence of unmodeled dynamics
… varying operating conditions becomes crucial. Adaptive control has long been viewed as one such control method, with implementation on high performance aerial vehicles providing nearly uniform performance across the flight envelope even with limited a priori knowledge on the aircraft's …
-
Efficiently Learning Robust, Adaptive Controllers from Robust Tube MPC
… requires adaptation capabilities and robustness to uncertainties. Existing robust and adaptive controllers, such as those based on model predictive control (MPC), can achieve impressive performance at the cost of heavy online onboard computations. Strategies that efficiently learn …
-
Robust Adaptive Estimation for Autonomous Rendezvous in Elliptical Orbit
… of navigation filters that make use of robust estimation techniques is important due to the sensitivity of the typical minimum L2 norm techniques, such as the Kalman filter, to deviations in the assumed underlying probability distribution. In particular, those distributions with thicker …
-
Robust Adaptive Control of Deterministic and Stochastic Strict -Feedback Systems
The third topic studied involves decentralized control of uncertain systems. The class of systems focussed on is a set of stochastic strict-feedback systems which interact through their outputs, and performance is measured again with respect to a risk-sensitive cost criterion. The unknown nonlinear …
-
L1 Crazyflie: An open-source testbed for robust adaptive control
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms
-
Robust adaptive control of induction machines using the L1 control scheme
In this thesis, a robust adaptive control scheme is proposed in order to drive an induction motor with high performance, even in the presence of unknown machine electrical parameters. Magnetic saturation within an induction motor results in nonlinear, changing flux dynamics. Also, rotor resistance …
-
Robust adaptive flight control systems in the presence of time delay
Adaptive control technology is a promising candidate to deliver high performance in aircraft systems in the presence of uncertainties. Currently, there is a lack of robustness guarantees against time delay with the difficulty arising from the fact that the underlying problem is nonlinear and time …
-
Modeling and robust adaptive control of metal cutting via application of piezoactuator
… in order for ultra-precision machining, several robust adaptive control schemes are proposed in different circumstances with such complicated turning systems. The simulation results show significant reduction of chatter by the proposed adaptive controllers in all the circumstances.
-
Efficient Imitation Learning for Robust, Adaptive, Vision-based Agile Flight Under Uncertainty
Existing robust model predictive control (MPC) and vision-based state estimation algorithms for agile flight, while achieving impressive performance, still demand significant onboard computation, preventing deployment on robots with tight Cost, Size, Weight, and Power (CSWaP)constraints. The …
-
Contributions to Robust Adaptive Signal Processing with Application to Space-Time Adaptive Radar
Classical adaptive signal processors typically utilize assumptions in their derivation. The presence of adequate Gaussian and independent and identically distributed (i.i.d.) input data are central among such assumptions. However, classical processors have a tendency to suffer a degradation in …
-
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 …
-
Robust adaptive control modeling of human arm movements subject to altered gravity and mechanical loads
… this thesis. The hypothesis is that during the adaptive learning process the neural connections behave in ways that can be described by an adaptive control method. The investigation presented in this thesis includes two different sets of experiments. A series of dart throwing experiments took …
-
Robust Adaptive Rigid Body State and Mass Property Estimation Via Unscented Kalman Filter on TSE(3) with Process Noise Estimation
… scheme becomes necessary. This thesis presents a robust adaptive estimation scheme, a dual UKF framework de- fined on the tangent bundle of the special Euclidean group, TSE(3), tailored explicitly for nonlinear mass property estimation. The external environmental disturbances due to massive …
-
Some issues in the sliding mode control of rigid robotic manipulators
This thesis investigates the problem of robust adaptive sliding mode control for nonlinear rigid robotic manipulators. A number of robustness and convergence results are presented for sliding mode control of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings …
-
Robustness of adaptive control systems to unmodeled dynamics : a describing function viewpoint
… it was shown that a standard model reference adaptive controller modified with a suitably tuned projection algorithm ensures robustness (global boundedness) of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based …
Page 1 of 3