{"id":{"repo_id":"buffalo","oai_identifier":"oai:ubir.buffalo.edu:10477/80667"},"canonical_url":"https://search.dev.ndltd.org/etd/buffalo/oai:ubir.buffalo.edu:10477/80667","repository":{"repo_id":"buffalo","name":"Buffalo","base_url":"https://ubir.buffalo.edu/oai/request"},"display":{"title":"Design and Implementation of Iterative Learning Control for Quad-Rotor UAV's Tracking","abstract":"M.S.","abstract_html":"M.S.","abstract_has_math":false,"creators":["Adlakha, Revant; 0000-0002-0414-8948"],"institution":"State University of New York at Buffalo","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":["Zheng, Minghui","Mechanical and Aerospace Engineering"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2019,"date_issued":"2019-10-28T21:55:53Z","date_published":"2019-10-28T21:55:53Z","updated_at":"2026-07-27T19:05:23Z","subjects":["mechanical engineering","robotics"],"languages":["eng"],"rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10477/80667","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Zheng, Minghui","Mechanical and Aerospace Engineering"]},{"key":"dc:creator","label":"Author","values":["Adlakha, Revant; 0000-0002-0414-8948"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2019-10-28T21:55:53Z","2019","2019-08-15 14:29:27"]},{"key":"dc:publisher","label":"Institution","values":["State University of New York at Buffalo"]},{"key":"dc:type","label":"Dc Type","values":["Text","Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["mechanical engineering","robotics"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/10477/80667"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["M.S.","An iterative learning control design method is presented to improve the unmanned aerial vehicle's tracking performance. Iterative learning control is a feed forward control method that aims to improve the performance through learning from errors over iterations in repetitively operated systems. The tracking errors from previous iterations are injected into a learning filter to generate a learning signal to improve the performance of the current iteration. This project presents a method for the learning filter design, by transforming it into a feedback controller design problem for a purposely constructed system. The formulated controller design problem is solved based on H-infinity optimal control method. Through the proposed learning filter design method, the learning performance is optimized and the system's stability is guaranteed. The proposed learning filer design method and the regarding iterative learning control are validated by both numerical and experimental studies, and the tracking performance of the unmanned aerial vehicle have been improved."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Design and Implementation of Iterative Learning Control for Quad-Rotor UAV's Tracking"]}]}],"canonical_facts":{"dc:contributor":["Zheng, Minghui","Mechanical and Aerospace Engineering"],"dc:creator":["Adlakha, Revant; 0000-0002-0414-8948"],"dc:date":["2019-10-28T21:55:53Z","2019","2019-08-15 14:29:27"],"dc:description":["M.S.","An iterative learning control design method is presented to improve the unmanned aerial vehicle's tracking performance. Iterative learning control is a feed forward control method that aims to improve the performance through learning from errors over iterations in repetitively operated systems. The tracking errors from previous iterations are injected into a learning filter to generate a learning signal to improve the performance of the current iteration. This project presents a method for the learning filter design, by transforming it into a feedback controller design problem for a purposely constructed system. The formulated controller design problem is solved based on H-infinity optimal control method. Through the proposed learning filter design method, the learning performance is optimized and the system's stability is guaranteed. The proposed learning filer design method and the regarding iterative learning control are validated by both numerical and experimental studies, and the tracking performance of the unmanned aerial vehicle have been improved."],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/10477/80667"],"dc:language":["eng"],"dc:publisher":["State University of New York at Buffalo"],"dc:rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"dc:subject":["mechanical engineering","robotics"],"dc:title":["Design and Implementation of Iterative Learning Control for Quad-Rotor UAV's Tracking"],"dc:type":["Text","Thesis"]},"updated_at":"2026-07-27T19:05:23Z"}