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 39 for “"Robust controller"”.
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Robust Controller Interpolation With Application to Gain-Scheduling
… on designing the dynamic transition between controllers, termed controller interpolation to meet stability and performance objectives. First, an intuitive definition of the controller interpolation problem is presented. The resulting set of controller interpolation criteria is translated into …
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Model accuracy analysis and robust controller design for flexible manipulators.
Model accuracy analysis and robust controller design for flexible manipulators.
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Robust controller design and evaluation for a small underwater vehicle
Thesis (Elec. E.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1993.
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Robust controller design for active trailer steering systems of articulated vehicles using multi-objective optimization
… thesis presents and evaluates an approach to the robust controller design for active trailer steering (ATS) systems to increase the safety of articulated vehicles. By applying a multi-objective evolutionary algorithm (MOEA) to the design optimization of the robust ATS controller, a series of …
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Model-based and data-based frequency domain design of fixed structure robust controller: a polynomial optimization approach
L'abstract è presente nell'allegato / the abstract is in the attachment
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Temperature Dependent Robust Control Of Hard Disk Drives Using Parameter Varying Techniques
… tracks are extremely narrow, a high performance controller is required to reject disturbances from various sources and maintain the position of the transducer on a single track. This dissertation focuses on designing a robust controller for the HDD system. The controller must be robust to its …
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Controller design via H[infinity] optimal control, quantitative feedback theory and fuzzy logic control : an application to load frequency control
This thesis describes the application of robust controller design techniques namely H[infinity] optimal control, fuzzy logic control and quantitative feedback theory to the load frequency control problem of power systems. It thus forms a comparative study of these design methods. Load frequency …
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Parameter robust reduced-order control of flexible structures
… arrive at two new LQG-based methods of parameter robust control. One component of the robustness procedure, common to both methods, is the application of an auxiliary cost functional penalty to desensitize the system to variations in selected parameters of the state-space model. The other …
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Control Design for Long Endurance Unmanned Underwater Vehicle Systems
In this thesis we demonstrate a technique for robust controller design for an autonomous underwater vehicle (AUV) that explicitly handles the trade-off between reference tracking, agility, and energy efficient performance. AUVs have many sources of modeling uncertainty that impact the uncertainty …
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Dynamic compensators for a nonlinear conservation law
… A linearized model is used to compute a robust controller (MinMax), a LQG controller and a fixed-order-finite-dimensional control law (Optimal Projection) by minimizing various energy functionals. These control laws are then applied to the nonlinear model. Different approximation schemes …
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Robust Image-Based Visual Servo Control of an Uncertain Missile Airframe
… to demonstrate the performance of the proposed robust controller for both stationary and non-stationary targets.</p>
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Safe online learning for nonlinear dynamical systems using control contraction metrics
… nonlinear system identification and online controller synthesis via control contraction metrics. The developed pipeline is applied to a longitudinal simulation of an F-16 aircraft using high-fidelity wind tunnel data. The gap in knowledge around the application of control contraction metrics …
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The Characterization and Control of Shape Memory Alloy Cables for Reinforcement of Engineered Cementitious Composite Beams
… by the manufacturer. A sliding mode based robust controller was designed and tested to ensure the accurate force control of the Nitinol cable during the process of post-tensioning of the ECC beam. In this research, the shape memory effect of the same superelastic Nitinol cable when its …
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Design of an adaptive 3-dimensional display enabled by a swarm of autonomous micro air vehicles
… specifically on the development of a non-linear, robust controller with feed-forward compensation, designed for control of a quad-rotor helicopter in the presence of aerodynamic interference generated by other vehicles in swarm-like operational conditions. System requirements and driving factors …
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Fine surface control of flexible space mirrors using adaptive optics and robust control
… This research proposes innovative H[infinity] robust control techniques for these types of systems. An H[infinity] controller is synthesized for a complex analytical model with 997 inputs, 936 outputs, and 332 states. To accomplish this, a new technique for model reduction using Zernike …
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Real-time quadruped gait controller for rough terrain locomotion
… This thesis investigates a trotting gait controller for use on HERMES specifically on rough terrain. The method takes advantage of simpler underlying dynamics of trotting stability to create a robust controller that performs without specific knowledge of the terrain or preplanning steps. …
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Adaptive robust model predictive control for nonlinear systems
… Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation by optimizing over control policies but at the expense of computational complexity. An alternative strategy, known as tube MPC, uses a robust controller (designed offline) to keep the system in an …
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Model simplification and robust control in deterministic and stochastic systems using singular perturbation methods
… the literature, and these have led to different robust control and filtering problem formulations, methodologies, and resulting robust designs. This thesis presents novel formulations of three different classes of problems featuring the types of uncertainties described above, studies them from …
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Adaptive control of hypersonic vehicles
… difficult. This work proposes an adaptive controller for a hypersonic cruise vehicle subject to: aerodynamic uncertainties, center-of-gravity movements, actuator saturation, failures, and time-delays. The adaptive control architecture is based on a linearized model of the underlying rigid …
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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 …
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