A magnetometer with a sensitivity of 0.01nT will be towed through the thermocline by a 2.87 meter long, 0.533 meter diameter autonomous underwater vehicle (AUV) to measure the magnetic fluctuations generated by oceanic internal waves. At this point, no research has been found that suggests towed magnetometer measurements have been done using an AUV. Simulations of the AUV, tow cable, and towfish are performed to provide an understanding of the effects of changing different input parameters, such as towing speed (0.5-2m/s), cable length (5-15m), vehicle trajectory (circle and vertical zig zag maneuvers), and current (0.25-1.25m/s). The AUV-cabletowfish system and equations of motion needed for the simulations are described herein. Results show that a 5m tow cable provides better towfish maneuvering than the longer cable lengths. High towfish pitch angle is decreased by decreasing the distance between CG and CB. Surface currents speed of 0.25m/s change the AUV and towfish circle maneuver to a spiral trajectory, while 1.25m/s current speed cause a zig zag trajectory. / by Lea Gabrielle Miller. / Thesis (M.S.C.S.)--Florida Atlantic University, 2011. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2011. Mode of access: World Wide Web.

by Stephen Chi-tin Yang. / "Sept. 28, 1999." / Thesis (Ph.D.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (p. 158-163). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Electronic reproduction. Ann Arbor, MI : ProQuest Information and Learning Company, [200-] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Mode of access: World Wide Web. / Abstracts in English and Chinese.

ii) An adaptive output regulation design is proposed for the systems with ISS inverse dynamics and an uncertain exosystem. When the exosystem contains uncertain parameters, the direct approach can not be implemented any longer. To deal with this issue in the general case, by introducing an observer, we first derive an extended system composed of the plant and the observer. Then the output regulation problem of the extended system is solved. It is further shown that the unknown parameter vector of the exosystem can be exactly estimated if a controller containing a minimal internal model is employed. / iii) A sufficient solvability condition of the global output regulation for the systems with iISS inverse dynamics is proposed. Since the concept of iISS is strictly weaker than the ISS one, the result allows us to handle a much larger class of nonlinear systems. / In the past ten years or so, the output regulation of the strict output feedback systems has attracted a lot of attention. In contrast with the strict output feedback systems, the output feedback systems is more general since it not only involves the nonlinearity of the system output but also the unmodeled dynamics. Therefore, the usual design method is not applicable, which motivates us to develop some new methodology for the output regulation design of the output feedback systems. / One of the motivations of the case study is to deal with the output regulation problem of a shunt-connected DC motor whose inverse dynamics is iISS but not ISS. As an illustration, a disturbance rejection problem of the shunt-connected DC motor is solved. / The application of the result leads to the solution of several interesting control problems such as the global disturbance rejection of the FitzHugh-Nagumo (FHN) system and the robust output synchronization of the generalized third and fourth-order Lorenz system and the Harmonic system. / The main results of the thesis are outlined as follows. i) A direct approach is proposed for the output regulation of the systems with ISS inverse dynamics and unknown control directions. The internal model is first designed for the control input. The output feedback control design is further achieved based on a type of partial state observer which is designed for the transformed augmented system. The Nussbaum function technique is successfully incorporated in the stabilization design to deal with the case of unknown control directions. / The nonlinear output regulation is a central control problem that involves nonlinear stabilization, tracking control and disturbance rejection as special cases. The control objective is to find a feedback controller to achieve asymptotic tracking and/or disturbance rejection while maintaining closed-loop stability. The output regulation study has experienced rapid developments in the past two decades or so. It is now well known that the problem can be systematically approached according to the general framework of tackling nonlinear output regulation that is composed of the following two steps. The first step is the problem conversion: from nonlinear output regulation to stabilization. The output regulation is generally more complicated than the stabilization problem. Therefore the problem conversion indeed reduces the complexity and makes it possible to be handled. In this step, the output regulation is converted into the stabilization of an augmented system consisting of the original plant and a suitable dynamic compensator called internal model. The second step is the stabilization of the augmented system whose solvability implies solvability of the output regulation problem. / The result is applied to solve a tracking control problem associated with the well known Lorenz system and a class of generalized fourth-order Lorenz systems. By certain system decomposition, it is proved that the Lorenz system contains certain ISS inverse dynamics and the output feedback control is successfully realized. / The thesis is concerned with the global robust output regulation for nonlinear systems in the output feedback form by using output feedback control. For the nonlinear output feedback systems, we mainly study three typical output regulation problems. The first one is the output regulation problem with unknown control directions and input-to-state stable (ISS) inverse dynamics using a direct approach. The second one is the adaptive output regulation problem with an uncertain exosystem and ISS inverse dynamics. The third one is a case study on the solvability of the systems with integral input-to-state stable (iISS) inverse dynamics. / Xu, Dabo. / Adviser: Jie Huang. / Source: Dissertation Abstracts International, Volume: 72-01, Section: B, page: . / Thesis (Ph.D.)--Chinese University of Hong Kong, 2010. / Includes bibliographical references (leaves 107-113). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Electronic reproduction. Ann Arbor, MI : ProQuest Information and Learning Company, [200-] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Abstract also in Chinese.

Zhao, Jin. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (leaves 79-83). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Synchronization of Master-slave Systems --- p.1 / Chapter 1.2 --- Output Regulation --- p.2 / Chapter 1.3 --- Typical Nonlinear Systems --- p.4 / Chapter 1.4 --- Organization --- p.4 / Chapter 2 --- Synchronization of Chua's Circuit and Van der Pol Oscillator via Inter- nal Model Approach --- p.6 / Chapter 2.1 --- Introduction --- p.6 / Chapter 2.2 --- Problem Formulation --- p.8 / Chapter 2.3 --- Preliminaries --- p.10 / Chapter 2.4 --- Solvability of the Problem --- p.13 / Chapter 2.4.1 --- The solution of the regulator equations --- p.14 / Chapter 2.4.2 --- Steady-state generator --- p.15 / Chapter 2.4.3 --- Internal model --- p.19 / Chapter 2.4.4 --- Stabilization --- p.20 / Chapter 2.4.5 --- Simulation --- p.22 / Chapter 2.5 --- Conclusions --- p.27 / Chapter 3 --- Robust Output Regulation of Output Feedback Systems with Nonlinear Exosystems --- p.28 / Chapter 3.1 --- Introduction --- p.28 / Chapter 3.2 --- Assumptions and Preliminaries --- p.29 / Chapter 3.3 --- Solvability of the Synchronization Problem --- p.33 / Chapter 3.4 --- Comparing Two Approaches for Output Regulation --- p.42 / Chapter 3.4.1 --- Differences between the two approaches for the output regulation problem --- p.42 / Chapter 3.4.2 --- Solvability of the regulator equations --- p.43 / Chapter 3.4.3 --- Solvability of stabilization --- p.47 / Chapter 3.5 --- Conclusions --- p.49 / Chapter 4 --- Applications of Robust Regional Synchronization via Output Regulation Techniques --- p.50 / Chapter 4.1 --- Problem Formulation --- p.50 / Chapter 4.2 --- Duffing Oscillator Synchronizes with Chua's Circuit --- p.51 / Chapter 4.2.1 --- Transfer the synchronization problem into the stabilization problem --- p.53 / Chapter 4.2.2 --- Boundedness of Chua's circuit --- p.57 / Chapter 4.2.3 --- Stabilization --- p.59 / Chapter 4.2.4 --- Simulation Results --- p.64 / Chapter 4.3 --- The Chaotic SMIB Power System Synchronizes with Van der Pol Oscillator --- p.64 / Chapter 4.3.1 --- Transfer the synchronization problem into the stabilization problem --- p.68 / Chapter 4.3.2 --- Stabilization --- p.71 / Chapter 4.3.3 --- Simulation Results --- p.74 / Chapter 4.4 --- Conclusions --- p.76 / Chapter 5 --- Conclusions --- p.77 / Bibliography --- p.79

Orientador: João Bosco Ribeiro do Val / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação / Made available in DSpace on 2018-08-25T04:12:10Z (GMT). No. of bitstreams: 1 Frencl_VictorBaptista_D.pdf: 1574127 bytes, checksum: 86e39d74bf9c9e7734aa764b39aaac1a (MD5) Previous issue date: 2014 / Resumo: O problema de rastreamento de alvos é tratado de diversas formas na literatura, seja elaborando modelos matemáticos mais eficientes na reprodução da dinâmica de movimentos, seja na construção de filtros estocásticos que realizem estimativa de estados, como de posição e velocidade. Quando se trata do rastreamento em que os alvos de interesse são diversos indivíduos em movimento, a literatura não possui estudos específicos. Dessa forma, o objetivo principal da tese é aprofundar o conhecimento de rastreamento de indivíduos. Neste cenário, existe um número elevado e variável de alvos, que podem surgir de forma espontânea, agrupar-se ou separar-se, além de alarmes falsos imersos nas medidas. Estudou-se a teoria dos Conjuntos Aleatórios Finitos, cujo tratamento matemático se dá através do chamado Cálculo Multi-Alvo. Os filtros estocásticos também foram estudados sobre este ponto de vista, sendo os filtros PHD e GM-PHD os principais. Criada essa base teórica, três propostas baseadas nesse problema foram apresentadas: Modelos de Movimentação de Indivíduos, Simulador de Trajetórias de Indivíduos e Modelos Dinâmicos para Filtragem Estocástica. A primeira das propostas consiste em construir perfis probabilísticos de movimentação para cada um dos indivíduos. A segunda envolve a criação de um simulador de trajetórias de indivíduos que seja o mais verossímil possível em relação às trajetórias reais de uma pessoa, em cenários com variações de terreno, classificados pela dificuldade de locomoção. E finalmente, a terceira proposta tem como objetivo criar um modelo dinâmico combinado e modificado em relação a modelos encontrados na literatura para ser inserido no processo de filtragem estocástica. Ao final, alguns testes e simulações foram realizados, de tal forma a testar o desempenho de filtros e analisar o comportamento dos modelos matemáticos e dos perfis probabilísticos propostos / Abstract: The problem of target tracking is handled in different ways in the literature, either developing more efficient mathematical models to reproduce the dynamics of movements, or building stochastic filters that perform state estimation, such as position and velocity. When it comes to target tracking where the targets of interest are many individuals in motion, the literature lacks on specific studies. Thus, the main objective of the thesis is to deepen the knowledge of individuals tracking. In this scenario, there is a large and variable number of targets, which may arise spontaneously, group together or separate, in addition to measures immersed in false alarms. A study of the Random Finite Sets theory was made, whose mathematical treatment is through the so-called Multi-Target Calculus. Stochastic filters were also studied on this point of view, where the PHD and the GM-PHD filters are the main ones. After created the theoretical basis, three proposals based on this problem were presented: Motion Models for Individuals, a Simulator for Individuals Trajectories and Dynamic Models for Stochastic Filtering. The first proposal is based on building a motion probabilistic shape for each individual. The second proposal involves the creation of a trajectory simulator for individuals to be as plausible as possible to the real movements of a person, in scenarios with variations of terrain, ranked by locomotion difficulty. And finally, the third proposal aims to create a combined and modified dynamic model from models found in the literature, to be inserted in the stochastic filters. Finally, several tests and simulations were made in such a way to test the filters performances and analyze the behavior of the proposed mathematical models and the motion probabilistic shapes / Doutorado / Automação / Doutor em Engenharia Elétrica

This thesis presents the design of various controllers for a highly maneuverable, high performance aircraft, namely the modified F-18. The aircraft was required to perform high angle-of-attack maneuvers, for which the aircraft behaves in as a highly nonlinear system. An adaptive PID controller was used to control the aircraft through these high angle-of-attack maneuvers. Several nonlinear controllers were then developed based on the adaptive PID control, and were tested for robustness. This thesis also looks at an improvement in the aircraft which may improve performance in high angle-of-attack maneuvers. The contributions of this thesis are in the areas of control, in general, and specifically in the area of aircraft control. Successful application of linear adaptive control and nonlinear control were presented. In the area of aircraft control, controllers were presented which produce good performance for high angle-of-attack maneuvers, while maintaining implementability. Also, some insight is gained into what aircraft changes could improve performance. / Graduation date: 1995

Indiana University-Purdue University Indianapolis (IUPUI) / In recent years, there have been a lot of technology innovations to automate the day to day processes done by every person. These days the automobile manufacturers introduce new features in their cars, in order to improve customer experience, like Adaptive cruise control, Parallel park assist, etc. The objective of this thesis is to model an automated parallel parking system and to simulate the system behavior, by taking into account the high level events which happen when a car is parallel parked. The tool used in this thesis to model and simulate the system is Hybrid Petri net (HPN), which is versatile to model the real life systems. Chapter 1 deals with a brief introduction of the related work in Hybrid Petri net modeling of real life systems, automatic parallel parking systems and how the concept for modeling the parallel parking system was developed. Chapter 2 deals with the general introduction about Discrete, Continuous and Hybrid Petri nets and their dynamics which are essential for understanding this thesis. Chapter 3 deals with the development of the model and the various stages in the model development. Errors encountered in each stage is briefly discussed and the improvements are discussed in the next stage of development. This chapter concludes with the final integrated model and operation of the model. Chapter 4 deals with the discussion of results obtained when the model is tested in MATLAB and SIMHPN (which is a Matlab embedded simulation program). The results are compared, the system behavior is observed and the purpose of the thesis is justified. In Chapter 5, a conclusion is provided to summarize the entire thesis.