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 73 for “"Tracking Control"”.
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Spacecraft Attitude Tracking Control
… as a rigid body with N axisymmetric wheels controlled by axial torques, and the kinematics are represented by Modified Rodriques Parameters. The trajectory, denoted the reference trajectory, is one generated by a virtual spacecraft that is identical to the actual spacecraft. The open-loop …
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Automatic tracking control of aircraft
Thesis (Sc.D.) Massachusetts Institute of Technology. Dept. of Aeronautical Engineering, 1947.
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Digital Tracking Control for Machine Tool Feed Drives
… and reduces power waste due to friction. Servo controller design of those feed drives becomes more challenging due to dynamic interaction between the servo control and cutting process. A simplified end milling cutting process model is used in a structured singular value based uncertainty …
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Tracking control of nonlinear systems using sliding surfaces
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1983.
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Trajectory-Tracking Control of the Ball-and-Plate System
… a demonstration of a ball-and-plate trajectory tracking controller on hardware. The display piece will serve to inspire engineering students to pursue Mechatronics and control theory as an area of study. The ball-and-plate system is open-loop unstable, underactuated, and has complicated, …
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Robust randomized trajectory planning for satellite attitude tracking control
… By closing the guidance, navigation, and control loop around a randomized trajectory planning algorithm, a robotic vehicle can autonomously maneuver through a field of moving obstacles in a robust manner. The guidance strategy provides executable plans that are robust to known error …
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GNSS Hardware-In-The-Loop Formation and Tracking Control
Formation and tracking control are critical for of today's vehicle applications in and this will be true for future vehicle technologies as well. Although the general function of these controls is for data collection and military applications, formation and tracking control may be applied to …
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Lateral stability analysis and MPC tracking control for articulated heavy vehicles
… the dynamic stability. Therefore, to design controllers for improving the stability of AHVs, the trade-off between the static and dynamic instabilities is a necessary research topic. To analyze this trade-off, three different trailer payload schemes and two different tractor rear axle …
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Theory and experimental investigation of tracking control of wheeled mobile robots
A variety of theoretical and tracking control problems have been studied for various classes of nonholonomic wheeled mobile robot (WMR). The relative difficulty of the tracking control problem depends not only on nature structural properties of the nonholonomic WMR system but also on the tracking …
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Design, analysis and trajectory tracking control of underactuated mobile capsule robots.
… thesis presents the design, analysis, trajectory tracking control and implementation of underactuated mobile capsule robots. These capsule robots can be modified and used in in-vivo medical applications. Researches on the capsubottype underactuated system focus on the stabilization of the robot …
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Adaptive and Neural Network-Based Aircraft Tracking Control with Synthetic Jet Actuators
… (SJA) can be used to achieve maneuvering control in aircraft by delivering controllable airflow perturbations near the wing surface. Trajectory tracking control design for aircraft equipped with SJA is particularly challenging, since the controlling actuator itself has an uncertain dynamic …
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Trajectory Tracking Control of Unmanned Ground Vehicles using an Intermittent Learning Algorithm
… Also, extensive research has been carried out on control design of vehicular platoons because a further improvement in traffic throughput while not compromising the safety is possible when the vehicles in the platoon are provided with better predictive abilities. Motion control is a key area of …
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Cooperative autonomous systems: Motion planning and coordinated tracking control for multi-vehicle missions
In this dissertation a framework for planning and control of cooperative autonomous systems is presented, which allows a group of Unmanned Vehicle Systems (UxSs) to generate and follow desired trajectories, while coordinating along them in order to satisfy relative temporal constraints. The …
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Development of an integrated tracking control algorithm and a test platform for autonomous excavation
… operations. In this study, an effective control strategy for excavation is introduced considering the position, contour, and force which are mutually associated factors for successful autonomous excavation. For position tracking of the bucket tip, a non-linear PI controller was devised to …
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Generic dynamic modelling and model-based trajectory tracking control of wheeled mobile robots (WMRs)
… and on the systematic evaluation of model-based control schemes for trajectory tracking of Wheeled Mobile Robots (WMRs) for industrial applications. The research extends the theoretical and experimental work at the Centre for Industrial Control, Department of Mechanical Engineering, Concordia …
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Tracking Control and Disturbance Rejection With Applications to Non -Circular Turning for Camshaft Machining
The above theoretical developments are then applied to the Non-Circular Turning Process (NCTP) for camshaft machining. NCTP is a single-point turning process which produces non-circular shapes using rapid tool actuation. When applied to camshaft machining, NCTP enables the generation of a wide …
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Model-free tracking control of an optical fiber drawing process using deep reinforcement learning
A deep reinforcement learning (DRL) approach for tracking control of an optical fiber drawing process is developed and evaluated. The DRL-based control is capable of regulating the fiber diameter to track either steady or varying reference trajectories in the presence of stochasticity and …
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Design and Evaluation of a Photovoltaic Inverter with Grid-Tracking and Grid-Forming Controls
… of a virtual-synchronous-machine- (VSM-) based control to a conventional 250-kW utility-scale photovoltaic (PV) inverter. VSM is a recently-developed control scheme which offers an alternative grid-synchronization method to the conventional grid-tracking control scheme, which is based on the dq …
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
… the first part of this dissertation, we consider tracking control of underactuated systems on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). We formulate both asymptotically and finite-time stable tracking control schemes for underactuated rigid bodies that have …
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High-performance torque control of switched reluctance motor
… and computationally simple for real-time controller implementation. Both indirect torque control (IDTC) and direct torque control (DTC) approaches have been explored for phase torque tracking control. Advanced model-free and model-based nonlinear control techniques have been investigated. …
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