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 21 for “"Robust Adaptive Control"”.
-
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 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
… technology, demands for a rapidly reconfigurable control system yielding invariant performance under increasingly unknown or widely varying operating conditions becomes crucial. Adaptive control has long been viewed as one such control method, with implementation on high performance aerial …
-
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 …
-
Modeling and robust adaptive control of metal cutting via application of piezoactuator
… of chatter, it requires active vibration control providing a force to the cutting system to overcome the chatter effect. To provide such a force, the piezoactuator has been introduced into the cutting system as an important controllable positioning device for ultra-precision machining. …
-
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 …
-
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 …
-
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 …
-
Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft
… theory, with applications to cooperative control of multi-agent systems and synchronization of interconnected dynamics such as tethered formation flight. Inspired by stable combinations of biological systems, contraction nonlinear stability theory provides a systematic method to reduce …
-
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
-
Development of a pilot-in-the-loop flight simulator using NASA's transport class model
… simulators are a common and useful tool for control system design as well as verification and validation, and are used extensively throughout the aviation industry to evaluate system performance. The simulation environment at the Illinois Simulator Laboratory uses a modular architecture …
-
Observer-based robust fault estimation for fault-tolerant control
A control system is fault-tolerant if it possesses the capability of optimizing the system stability and admissible performance subject to bounded faults, complexity and modeling uncertainty. Based on this definition this thesis is concerned with the theoretical developments of the combination of …
-
Decentralized mixing function control strategy for multi-robot informative persistent sensing applications
In this thesis, we present a robust adaptive control law that enables a team of robots to generate locally optimal closed path persistent sensing trajectories through information rich areas of a dynamic, unknown environment. This controller is novel in that it allows the robots to combine their …
-
Design and control of a compact aerial manipulation system with a Delta-type parallel robot
This thesis presents the design, modeling, and control of a quadcopter equipped with a Delta-type parallel manipulator. Such systems present demanding challenges in both control theory and task planning, which are addressed with novel mechanical features, modern flight controllers, and optimal …
-
On-line Traffic Signalization using Robust Feedback Control
… for more effective traffic signalization using robust feedback control methodology. Online traffic-responsive signalization is based on real-time traffic conditions and selects cycle, split, phase, and offset for the intersection according to detector data. A robust traffic feedback control …
-
Addressing Behavior Model Inaccuracies for Safe Motion Control in Uncertain Dynamic Environments
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2027-05-01
-
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 …
Page 1 of 2