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 31 for “"Unmodeled dynamics"”.
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Adaptive control in the presence of unmodeled dynamics
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1982.
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Robust adaptive control in the presence of unmodeled dynamics
… properties, especially with respect to unmodeled dynamics, are well understood. This thesis proposes a solution to this long standing open problem for a class of linear time-invariant plants, whose states are accessible. With the use of a modified adaptive update law, transformation of …
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Output feedback adaptive control in the presence of unmodeled dynamics
… adaptive control in the presence of matched unmodeled dynamics, uncertain control effectiveness and matched parametric uncertainties. An adaptive feedback controller that augments an assumed existing observer based linear controller is developed. The adaptive approach outlined here assumes …
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Robustness of adaptive control systems to unmodeled dynamics : a describing function viewpoint
… of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based arguments and/or analysis of the parameter trajectory is employed. An alternative to such analysis, albeit approximate, is to use the well-known Describing …
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Invertibility and Input -to -State Stability of Switched Systems and Applications in Adaptive Control
… large parameter variation in the presence of unmodeled dynamics and hounded noise and disturbances, provided that the unmodeled dynamics are small enough and the parameters vary slowly enough as described by switching profiles.
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Adaptive Stochastic Systems: Estimation, Filtering, And Noise Attenuation
… problems in noise attenuation in systems with unmodeled dynamics and stochastic signal errors. A robust two-phase design procedure is developed which first estimates the signal in a simplified form, and then applies a control to tune out the noise. Worst-case error bounds are derived in terms …
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Integral Quadratic Constraints and Safety Certificates for Uncertainty Characterization and Control Safety-Aware Filtering of Proximity Operations Between Satellites
… six-dimensional, uncertain state, and often unmodeled dynamics during rendezvous and proximity operations, and (2) to explore the synthesis of control Lyapunov/barrier functions (CLFs/CBFs) using neural networks and stochastic gradient descent to provide safety-aware filtering for the …
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Foundations of the Geometric Mechanics Udwadia-Kalaba Framework for Rigid Body Constrained Motion Analysis
… Here, UK formulation is generalized to the dynamics of rigid bodies on nonlinear manifolds in the geometric mechanics framework. This approach simultaneously treats rotational and translational motion in a unified method without encountering singularites or non-uniqueness, issues that would …
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Adaptive Robust Control
… on the ability to adaptively stabilize against unmodeled dynamics.
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A nonlinear control algorithm for fuel optimal attitude control using reaction jets
… control algorithm for spacecraft attitude dynamics using on-off gas jets. In the development of a controller, we explore four control algorithms within a single-step control framework where the step is the fundamental update time of the digital controller. The benchmark controller is a …
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Experimental validation of an L1 controller on a single robotic manipulator on a moving platform and a robotic cooperative network
… robotic manipulator on a moving platform with unmodeled dynamics that aim to validate theoretical predictions for the dependence on control parameters of an L1 adaptive control strategy. The experiments verify expected bounds on the tracking error in terms of the bandwidth of a filter …
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Micro air vehicle control design : a comparison of classical and dynamic inversion techniques
… flight conditions, but suffered when subject to unmodeled dynamics and modeling errors.
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An adaptive control technology for flight safety in the presence of actuator anomalies and damage
… characteristics of the underlying aircraft dynamics. This thesis proposes the building blocks of an adaptable and reconfigurable control technology that ensures safe flight under adverse flight conditions. This technology enables the synthesis of such controllers as well as the systematic …
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Model simplification and robust control in deterministic and stochastic systems using singular perturbation methods
… structural changes, unknown parameters, and unmodeled fast dynamics. A number of different stochastic and deterministic models that incorporate these uncertainties have been proposed in the literature, and these have led to different robust control and filtering problem formulations, …
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Robust Observation and Control of Complex Networks
… can be subjected to parameter uncertainties, unmodeled dynamics or simply characterized by proper nonlinear dynamics. Therefore, motivated by those practical problems, the present Thesis proposes various approaches for dealing with the problem of observation and control in both the framework …
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Optimal trajectory design under uncertainty
… density, aerodynamic coefficients, and unmodeled dynamics are applied to each trajectory and performance is analyzed using linear covariance analysis and Monte Carlo simulations. The results show that when the vehicle is flown closed-loop with feedback, shaping using the open-loop …
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Adaptive Control of VSCMGs for Satellite Attitude Tracking
… due to cost, engineering constraints, unmodeled dynamics, coupled effects, and the challenging space environment. In addition, both mission requirements and complexity are simultaneously being increased. In order to achieve these requirements, new satellite control algorithms are …
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Development of Fault Tolerant Adaptive Control Laws for Aerospace Systems
… malfunctions, external parameter changes and/or unmodeled dynamics. The dissertation is focused on the development of novel adaptive control configurations that rely on non-linear functions that appear in the immune system of living organisms as main source of adaptation. One of the main goals of …
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Experiments and numerical simulations of the dynamics of an R.O.V. thruster during maneuvering
Propeller dynamics have typically been ignored in controller design, lumped into the category of 'unmodeled dynamics.' This is acceptable for propellers operating at constant speed in relatively uniform flows. Operational parameters of small remotely operated vehicles and autonomous underwater …
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Polynomial system identification modeling and adaptive model predictive control of arterial oxygen saturation in premature infants
… fibroplasia. Historically, models of the dynamics of the neonatal respiratory system were first order transfer function approximations. This work used higher order polynomial system identification methods with the model structures of autoregressive with exogenous inputs (ARX) and …
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