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 29 for “"dynamic inversion"”.
-
Dynamic Inversion and Backstepping Controller Robustness Analysis for a Reusable Launch Vehicle
… Advanced nonlinear control methods like dynamic inversion and backstepping may eliminate the need to use classical gain tuning techniques that may increase quick turnaround time, reliability, and performance. Both methods consider the dynamics of the vehicle allowing the controller to be …
-
Micro air vehicle control design : a comparison of classical and dynamic inversion techniques
… for a rotorcraft MAV using classical and dynamic inversion approaches. Classical control algorithms were developed based on linear, single input/single output analysis and were successfully implemented in hover, climb, and forward flight simulations. A dynamic inversion routine was then …
-
Modeling and Control of Flapping Wing Robots
… and a process is developed to derive the aerodynamic contributions using a virtual work principle. The aerodynamics are modeled using a quasi-steady state formulation where the lift and drag coefficients are treated as unknowns. A collection of nonlinear controllers are studied, specifically …
-
Performance Analysis Of Non-Linear Adaptive Control Laws Using Hardware in the Loop of an Unmanned Aerial System
… the formation flight geometry problem, nonlinear dynamic inversion and an artificial immune system adaptive mechanism , are implemented in hardware-in-the-loop as a precursor for in-flight testing. These controllers are compared based on three performance metrics: trajectory following, control …
-
Health Management and Adaptive Control of Distributed Spacecraft Systems
… with respect to the target asset, allowing dynamics to be expressed using the Clohessy-Wiltshire-Hill equations. Additionally, based on desired points of inspection, the observers have specific attitude requirements that are achieved using Reaction Wheels as the control moment device. An …
-
Parameter Informed Reinforcement Learning for Vehicle System Identification
… essential for modeling and controlling vehicle dynamics. This dissertation explores the application of Parameter Informed Reinforcement Learning (PIRL) as a novel approach to system identification (SYSID). PIRL integrates prior system knowledge, such as physical parameters, into reinforcement …
-
Development of a Remotely-Piloted Vehicle Platform to Support Implementation, Verification, and Validation of Pilot Control Systems
… in this study: stick-to-servo and non-linear dynamic inversion control laws. Piloted-simulation results are presented on the Neal-Smith flying qualities plane at different flight conditions.</p>
-
Design, Development and Implementation of Intelligent Algorithms to Increase Autonomy of Quadrotor Unmanned Missions
… for quadrotor type UAVs. A six-degree-of freedom dynamic model of a quadrotor is developed in Matlab/Simulink in order to support the design of control algorithms previous to real-time implementation. A dynamic inversion based control architecture is developed to minimize nonlinearities and …
-
Dynamic and Control of Air-Bearing Spacecraft Simulator
… system. Before the control can be designed, the dynamics of the platform and the robot must be modeled. The dynamics of the robot can be derived utilizing a Newton-Euler recursive approach. By beginning with a simple pendulum, then adding links (degrees of freedom) to more closely resemble the …
-
Variable Stability Transfer Function Simulation
… simulator. This conversion required a simple dynamic inversion of the body axis force and moment terms. To reduce the error in these terms, a model following scheme was incorporated. A series of canned inputs and real-time pilot-in-the-loop tests were flown to evaluate the variable stability …
-
Extended Range Tactical Resupply Using Tailless UAV
… a model of the system and develop a Nonlinear Dynamic Inversion controller for autonomous flight. The NDI controller was able to provide stable flight in pitch, but will need more development to control yaw, instead an intentional bias was built in to show proof of concept for direct yaw control. …
-
A tilt rotor UAV for long endurance operations in remote environments
… is implemented for the hover controller and dynamic inversion is used to cancel nonlinearities in the vehicle takeoff dynamics. Discontinuous control inputs during the transition between takeoff and hover controller modes are shown to result in undesirable transient behaviors that are …
-
Performance and Robustness Assessment for a Robust Port-Hamiltonian Flight Controller
… guarantees due to the structure of the aircraft dynamics. This work presents an implementation of a novel control law which simultaneously transforms the nonlinear fixed-wing aircraft dynamics into a port-Hamiltonian structure using feedback linearization, from which input-to-state stability …
-
Adaptive Control of Nonaffine Systems with Applications to Flight Control
… (required for fighter aircraft for example), the dynamic nonlinearities are dependent not only on the states of the system, but also on the control inputs. Hence, the conventional linearization-based logic cannot be straightforwardly extended to these flight regimes, and non-conventional …
-
Development of Robust Control Laws for Disturbance Rejection in Rotorcraft UAVs
… to mitigate wind effects: baseline nonlinear dynamic inversion (NLDI), a wind rejection extension for the NLDI, NLDI with adaptive artificial neural networks (ANN) augmentation, and NLDI with L1 adaptive control augmentation. A simulation environment is applied to evaluate the performance of …
-
Control Driven Scaling Effects of Motor and Rotors for Urban Air Mobility Design
… This solution, linked to a Non-linear Dynamic Inversion controller, is simulated as part of the Personal Aerial Vehicle Embry-Riddle aircraft, which serves as test bed. The simulation includes the electric motor, rotor and aircraft mathematical models, which are developed in this …
-
Optimization based control design techniques for distributed parameter systems
… are actuated at the boundary. The principles of dynamic inversion and constrained optimization theory are used to formulate a feedback controller. This control technique is demonstrated for heat equations and thermal convection loops. This technique is extended to address a practical issue of …
-
Algorithms for Generation and Tracking of Fast and Agile Flight Trajectories
… to fast and agile flight, such as complex dynamics effects including significant unsteady aerodynamics and challenging conditions like post-stall and uncoordinated flight. We propose trajectory generation and tracking algorithms that address these challenges for a quadcopter aircraft and …
Page 1 of 2