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 12 of 12 for “"actuator bandwidth"”.
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Evaluation of linear DC motor actuators for control of large space structures
… the use of a linear DC motor as a proof mass actuator for the control of large space structures. A model for the actuator, including the current and force compensation used, is derived. Because of the force compensation, the actuator is unstable when placed on a structure. Relative position …
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Improved Dynamic Modeling and Robust Control of Autonomous Underwater Vehicles
… address the challenge of adjusting the desired actuator bandwidth in a loop-shaping design framework. Finally, we present a novel receding horizon H-infinity control algorithm to improve the control of autonomous vehicle systems working in high-disturbance environments, employing a Markov jump …
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Identification and control of lightly damped, large space structures: an experimental evaluation
… provides a powerful control approach to overcome actuator bandwidth limitations.
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Global parameter identification and control of nonlinearly parameterized systems
… they may require large control authority and actuator bandwidth, which makes them unsuitable for some applications. Third, they may simply result in unacceptably poor performance. All of these inadequacies are amplified further when parametric uncertainties are present. What is necessary is a …
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Design and control of an autonomous variable-pitch quadrotor helicopter
… places fundamental limits on the achievable actuator bandwidth and the types of maneuvers possible to fly. This thesis explores the extent to which the addition of variable-pitch propellers to a quadrotor helicopter overcomes these limitations. A detailed analysis of the potential benefits of …
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Stability Limits of Uncertain Systems in the Presence of Unmatched Coupled Dynamics and Actuator Dynamics with Adaptive Architectures
<p>Uncertain systems with coupled dynamics and actuator dynamics are prevalent in various applications spanning private, commercial, and government sectors. While stabilization and command tracking strategies exist, they often rely on idealized assumptions, such as negligible actuator bandwidth …
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Trustable Adaptive Controllers for Multi-Agent Systems with Actuator Dynamics
… presence of unknown control effectiveness and actuator dynamics. First, it provides an approach for driving a set of agents to user-assigned positions for missions that require agents to operate in formations. Then, it introduces a command governor mechanism for multi-agent systems with scalar …
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Adaptive Control for a Class of Nonlinear, Time Varying Rotational Systems
… adaptive control architecture, which includes actuator hedging in the reference model to address actuator bandwidth limitations and uncertainty, is designed and implemented to compensate for dynamical effects that could, for example, be caused by a slung load suspended from a quadrotor. A …
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Dynamic Modeling of a Supersonic Tailless Aircraft with All-moving Wingtip Control Effectors
… six degree-of-freedom model was augmented with actuator dynamics for the elevator, roll effector, and all-moving tips. The actuators were modeled as first order lags. The all-moving tip actuator time constant was varied to determine the effect of actuator bandwidth on the lateral-directional …
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Application of Co-Design Principles for Design of Series Elastic Joints
… into robotic joints is the use of Series Elastic Actuators (SEAs). Designing SEAs, however, requires balancing the stiffness of the elastic element with the structure and gains of the control system, as both strongly influence actuator bandwidth, disturbance rejection, and overall efficiency. …
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Adaptive Control of an Aeroelastic System for Active Flutter Suppression and Disturbance Rejection
… of flutter, and compensate for disturbances, actuator dynamics, and unmodeled nonlinear dynamics.</p> <p>This dissertation first develops a novel method for constructing time-domain simulation models of two and three-dimensional aeroelastic systems, resulting in models that are suitable for …
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Control and simulation of an active suspension system
… half (and quarter) car model with limited actuator bandwidth has been established for the two wheeled trailer with the active suspension. Various control strategies, namely PD, MIMO PID, LQG and Fuzzy Logic, have been implemented on the physical prototype. These controllers were simulated …