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 160 for “"feedback controller"”.
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Feedback Controller Design For Low-Power Autonomous Blimp Robot
… of freedom. To control this, we present a controller for the blimp robot with three separate PID control loops: one for altitude control, one for angle control, and one for proximity approach. Additional fuzzy logic is implemented to improve performance and limit inefficiencies in the …
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A comparison study of genetic algorithms in feedback controller design
… algorithms are used to design a two-state feedback optimal gain set for a SDOF SMD model with a given initial condition. An improved selection scheme called the stochastic remainder selection without replacement is introduced. An improved GA-based (IGA) feedback controller is designed to …
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THE CRISPRATOR: A FEEDBACK CONTROLLER IN MAMMALIAN CELLS FOR ROBUST PERFECT ADAPTATION
… RPA can be achieved by mechanisms like integral feedback control, a specific implementation of Negative Feedback loops. However, the engineering of synthetic biomolecular circuits implementing an integral controller able to confer RPA in living cells is still an open problem, which if solved …
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Development of a feedback controller for the Antenna Positioner on the MeerKAT Radio Telescope
… approach to the modelling and design of a feedback control system for a MeerKAT antenna. The project first focuses on modelling of the antenna's mechanical dynamics in its two axes of motion: azimuth and elevation. The modelling approach derives a linear lumped model analytical …
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On the optimal minimum order observer-based compensator and the limited state variable feedback controller.
Thesis. 1976. Elec.E.--Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
… engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits for which the zero moment point is on the center of the supporting foot. The mechanical structure of CHARLI-L, a humanoid robot used as our test platform in this thesis, …
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Proportional-Derivative-Acceleration Feedback Controller Design for Single Axis Attitude Control of Rigid Spacecraft with Flexible Appendages
This study designs and analyzes a new type of controller that helps improve the performance of single axis attitude control of flexible appendages attached to a rigid spacecraft. Conventionally, PID with position feedback was used to control single axis attitude manoeuvre of flexible appendages on …
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A convex solution to receding horizon control of switched linear systems
… is exactly solved for finite-path-dependent controllers with finite horizon knowledge of future switching modes. Conditions for the existence of both a full-information state-feedback controller and a dynamic output feedback controller are given in the form of finite-dimensional systems of …
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Adaptive State Feedback Control of Lorenz Systems to Its Non-Trivial Equilibrium
… this chaotic regime, we implement a linear state feedback controller to stabilize the state trajectory at its original nontrivial equilibrium. The state variable for feedback is easily measurable. The system is proved to be globally asymptotically stable with a optimal feedback gain. The stability …
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Modeling and LQR Control of a Two-Dimensional Airfoil
… model is used to design a flutter suppression controller. Flutter is a vibration in a wing caused by airstream energy being absorbed by the lifting surface. Flutter increases with increasing speed. For simplicity, we consider a flat plate in a two-dimensional flow. The model is developed in the …
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Active pitch control of an oscillating foil with biologically-inspired boundary layer feedback
… ad- dressing the hypothesis that boundary layer feedback control can enable improved performance in flapping light. To this end, we model a novel biologically-inspired feedback controller which adjusts wing motion in response to the flow-induced bending load experienced by sensory hairs mounted …
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Robust Control of Networked Control Systems with Random Communication Delays
… such as plants, sensors, actuators and controllers are connected via a communication network. This configuration provides several advantages over the traditional point-topoint structure such as modularity, ease of maintenance and low construction cost. NCSs enable several practical …
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Modeling, Control, and Hardware Development of a Thrust-Vector Coaxial UAV
… dynamics modeling, hardware design, and controller development. Using the Newton-Euler method, a dynamic model for the UAV is derived to gain in-depth insights into its fundamental flight characteristics. A simple thrust model is formulated and modified by comparing it with data obtained …
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L1 adaptive output-feedback control architectures
… focuses on development of L1 adaptive output-feedback control. The objective is to extend the L1 adaptive control framework to a wider class of systems, as well as obtain architectures that afford more straightforward tuning. We start by considering an existing L1 adaptive output-feedback …
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Control of linear switched systems using state feedback with saturation constraints
… for the existence of a stabilizing static state feedback controller subject to saturation constraints, together with a constructive method to find this controller. These are presented as semi-definite optimization problems.
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DESIGN OF MULTIVARIABLE FEEDBACK CONTROLLERS: ITALIC-L(1)-OPTIMAL SYSTEMS
… linear time-invariant plant, we want to design a feedback controller in such a way that the closed loop system is internally stable and the output tracks an arbitrary set of bounded and persistent inputs for all time. This problem is equivalent to finding the feedback controller that minimizes the …
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Hybrid Switched System Visual Servo Control
… that is not suitable for a single, continuous feedback controller. Switched-system control of IBVS and PBVS systems offer the opportunity to use vision data in the closed loop control of a nonholonomic system. We present such a switched-system controller, an initial investigation into the …
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Nonholonomic Feedback Control Among Moving Obstacles
<p>A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a …
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Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H -Infinity Techniques
… imperfect state measurements are available for feedback. The basic motion planning algorithm uses cubic splines or Pythagorean hodograph curves to connect the initial and final configurations and to generate a feasible trajectory for the system. The feasible trajectory and its control inputs are …
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Inertially stabilized platforms for SATCOM on-the-move applications : a hybrid open/closed-loop antenna pointing strategy
… strategy by employing an open-loop pedestal feedback controller in conjunction with a step-tracking procedure. The open-loop feedback controller is developed using optimal control techniques, and the pointing performance of the controller with the nominal APS is determined through simulation. …
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