Global ETD Search
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Showing 1 to 10 of 10 for “"Underactuated system"”.
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Control of a nonlinear underactuated system with adaptation, numerical stability verification, and the use of the LQR Trees algorithm
Underactuated robotics, though surrounded by an established body of work, has certain limitations when nonlinear adaptive control principles are applied. This thesis applies a nonlinear adaptative controller that avoids many of these limitations using alterations inspired by the control of a …
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Path planning and position control and of an underactued [sic] electromagnetic formation flight satellite system in the near field
… Next the thesis limits itself to a two-satellite system and thus is able to perform a state reduction that constrains the motion to an arbitrary two-dimensional plane in 3-dimensional space showing that this is not actually a constraint on the real system for a two satellite formation. A feedback …
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Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
… control, reduction, and classification of underactuated mechanical systems. Underactuated systems are mechanical control systems with fewer controls than the number of configuration variables. Control of underactuated systems is currently an active field of research due to their broad …
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Design, construction, and testing of a prototype robotic leg for controls experiments
The complex underactuated legs used in the FastRunner robot, designed by the Florida Institute for Human and Machine Cognition, are designed with multiple linkages and nonlinear springs to exploit the natural dynamics of the system in order to achieve extraordinary agility and efficiency. One way …
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AeroDima: a cheetah-inspired aerodynamic tail for rapid manoeuvrability
… manufactured. The tail, designed to be a 3DOF underactuated system, was designed to test the effects of the tail on high-speed manoeuvres through a roll motion swing of the tail. The system was tested both in simulation and physical experiments. The simulation, developed with MATLAB's Simscape …
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ADAPTIVE CONTROL DESIGN FOR QUADROTORS
… has 4 rotors and 6 degrees of freedom, it is an underactuated system and is dynamically unstable that has to be stabilized by a suitable control algorithm in order to operate autonomously. This thesis focuses on the quaternion representation of the quadrotor system dynamics and develops an …
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The Creation of Motion Planning Software for a Car-like Robot
… The software is based on the Robot Operating System (ROS) and is tested using a Duckiebot (DB21M). Because the Duckiebot does not possess a rear-facing camera, the mathematical model used for the car-like robot is the Dubins car, where a compact set of closed-form equations that describe the …
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Robust and Adaptive Nonlinear Control of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators
… weight UAVs, there is a growing need for UAV systems that do not require heavy mechanical actuators (e.g., ailerons). To address this, the use of synthetic jet actuators (SJAs) in UAV fight control systems is becoming popular as a practical alternative to mechanical deflection surfaces. SJAs …
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Design, analysis and trajectory tracking control of underactuated mobile capsule robots.
… 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 and tracking the actuated configuration. …
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
… 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 one translational …