Spelling suggestions: "subject:"nonlinear control theory"" "subject:"onlinear control theory""
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Nonlinear control of an unmanned amphibious vehicleUnknown Date (has links)
The DUCKW-Ling is an 8.3 foot long, amphibious water plane area twin hull (SWATH) concept vehicle which is propelled by a pair of crawler tracks on land and dual propellers when water-borne. In its operational zone, the vehicle's dynamics change dramatically as it transitions from being completely water-borne and buoyancy supported to being completely land-borne and track supported. In the water environment, a cascaded, first-order sliding mode controller was used to control the surge and heading of the vehicle, and was capable of having a faster response when compared to using a proportional controller. Additionally, field trials of the DUKW-Ling show the capability of the vehicle to navigate and track predetermined waypoints in both terrestrial and aquatic terrains. In the transitional zone, the electric motor current from the tracks was used as the feedback mechanism to adequately actuate the propellers and tracks in the system as the dynamics of the vehicle change. / by Josâe L. Alvarez. / Thesis (M.S.C.S.)--Florida Atlantic University, 2013. / Includes bibliography. / Mode of access: World Wide Web. / System requirements: Adobe Reader.
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Some applications of advanced nonlinear control techniques.January 2005 (has links)
Jia Peng. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2005. / Includes bibliographical references (leaves 85-87). / Abstracts in English and Chinese. / Abstract --- p.iv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Overview of Output Regulation Problem --- p.2 / Chapter 1.2 --- Attitude Tracking Control of Rigid Spacecraft --- p.3 / Chapter 1.3 --- Overview of Continuous-time Nonlinear H∞ Control --- p.4 / Chapter 1.4 --- Overview of Discrete-time Nonlinear Hq∞ Control --- p.6 / Chapter 1.5 --- Flight Control in Windshears --- p.8 / Chapter 1.6 --- Nonlinear Benchmark System --- p.9 / Chapter 1.7 --- Outline of the Work --- p.11 / Chapter 2 --- Attitude Control and Asymptotic Disturbance Rejection of Rigid Spacecraft --- p.12 / Chapter 2.1 --- Model Description --- p.12 / Chapter 2.2 --- Problem Formulation --- p.16 / Chapter 2.3 --- Preliminaries of General Framework for Global Robust Output Regulation --- p.17 / Chapter 2.4 --- Application of Global Robust Output Regulation --- p.21 / Chapter 2.4.1 --- Case I: without unknown parameters --- p.21 / Chapter 2.4.2 --- Case II: with unknown parameters --- p.26 / Chapter 2.5 --- Simulation --- p.34 / Chapter 2.5.1 --- Case I: without unknown parameters --- p.34 / Chapter 2.5.2 --- Case II: with unknown parameters --- p.36 / Chapter 2.6 --- Conclusions --- p.38 / Chapter 3 --- Application of Approximation Continuous-time Nonlinear H∞ Control Law --- p.45 / Chapter 3.1 --- Preliminaries of Approximation Continuous-time Nonlinear Hq∞ Control Law --- p.45 / Chapter 3.2 --- Disturbance Attenuation of Flight Control System in Windshears --- p.50 / Chapter 3.2.1 --- Design of Control Law --- p.51 / Chapter 3.2.2 --- Computer Simulation --- p.56 / Chapter 3.3 --- Conclusions --- p.57 / Chapter 4 --- Application of Approximation Discrete-time Nonlinear H∞ Control Law --- p.65 / Chapter 4.1 --- Preliminaries of Approximation Discrete-time Nonlinear H∞ Control Law --- p.66 / Chapter 4.2 --- Explicit Expression of u --- p.69 / Chapter 4.3 --- Disturbance Attenuation of RTAC System --- p.73 / Chapter 4.4 --- Computer Simulation --- p.78 / Chapter 4.5 --- Conclusions --- p.80 / Chapter 5 --- Conclusions --- p.83 / Bibliography --- p.85 / A Programs --- p.88 / Vita --- p.112
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Some problems in nonlinear output regulation. / CUHK electronic theses & dissertations collection / Digital dissertation consortiumJanuary 2003 (has links)
Lan Weiyao. / "December 2003." / Thesis (Ph.D.)--Chinese University of Hong Kong, 2003. / Includes bibliographical references (p. 163-172). / 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.
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Nonlinear control system of inverted pendulum based on input-output linearizationMaeda, Ken. January 2006 (has links)
Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Sciences, Electrical Engineering Department. / Includes bibliographical references.
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Analysis and Control of Non-Affine, Non-Standard, Singularly Perturbed SystemsNarang, Anshu 14 March 2013 (has links)
This dissertation addresses the control problem for the general class of control non-affine, non-standard singularly perturbed continuous-time systems. The problem of control for nonlinear multiple time scale systems is addressed here for the first time in a systematic manner. Toward this end, this dissertation develops the theory of feedback passivation for non-affine systems. This is done by generalizing the Kalman-Yakubovich-Popov lemma for non-affine systems. This generalization is used to identify conditions under which non-affine systems can be rendered passive. Asymptotic stabilization for non-affine systems is guaranteed by using these conditions along with well-known passivity-based control methods. Unlike previous non-affine control approaches, the constructive static compensation technique derived here does not make any assumptions regarding the control influence on the nonlinear dynamical model. Along with these control laws, this dissertation presents novel hierarchical control design procedures to address the two major difficulties in control of multiple time scale systems: lack of an explicit small parameter that models the time scale separation and the complexity of constructing the slow manifold. These research issues are addressed by using insights from geometric singular perturbation theory and control laws are designed without making any assumptions regarding the construction of the slow manifold. The control schemes synthesized accomplish asymptotic slow state tracking for multiple time scale systems and simultaneous slow and fast state trajectory tracking for two time scale systems. The control laws are independent of the scalar perturbation parameter and an upper bound for it is determined such that closed-loop system stability is guaranteed.
Performance of these methods is validated in simulation for several problems from science and engineering including the continuously stirred tank reactor, magnetic levitation, six degrees-of-freedom F-18/A Hornet model, non-minimum phase helicopter and conventional take-off and landing aircraft models. Results show that the proposed technique applies both to standard and non-standard forms of singularly perturbed systems and provides asymptotic tracking irrespective of the reference trajectory. This dissertation also shows that some benchmark non-minimum phase aerospace control problems can be posed as slow state tracking for multiple time scale systems and techniques developed here provide an alternate method for exact output tracking.
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Neuro-fuzzy system with increased accuracy suitable for hardware implementationGovindasamy, Kannan, Wilamowski, Bogdan M. January 2009 (has links)
Thesis--Auburn University, 2009. / Abstract. Vita. Includes MatLab code. Includes bibliography (p.43-44).
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Formation control of mobile robots and unmanned aerial vehiclesDierks, Travis January 2009 (has links) (PDF)
Thesis (Ph. D.)--Missouri University of Science and Technology, 2009. / Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed January 13, 2009) Includes bibliographical references.
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Noncertainty equivalent nonlinear adaptive control and its applications to mechanical and aerospace systemsSeo, Dong Eun, 1973- 28 August 2008 (has links)
Adaptive control has long focused on establishing stable adaptive control methods for various nonlinear systems. Existing methods are mostly based on the certainty equivalence principle which states that the controller structure developed in the deterministic case (without uncertain system parameters) can be used for controlling the uncertain system along by adopting a carefully determined parameter estimator. Thus, the overall performance of the regulating/tracking control depends on the performance of the parameter estimator, which often results in the poor closed-loop performance compared with the deterministic control because the parameter estimate can exhibit wide variations compared to their true values in general. In this dissertation we introduce a new adaptive control method for nonlinear systems where unknown parameters are estimated to within an attracting manifold and the proposed control method always asymptotically recovers the closed-loop error dynamics of the deterministic case control system. Thus, the overall performance of this new adaptive control method is comparable to that of the deterministic control method, something that is usually impossible to obtain with the certainty equivalent control method. We apply the noncertainty equivalent adaptive control to study application arising in the n degree of freedom (DOF) robot control problem and spacecraft attitude control. Especially, in the context of the spacecraft attitude control problem, we developed a new attitude observer that also utilizes an attracting manifold, while ensuring that the estimated attitude matrix confirms at all instants to the special group of rotation matrices SO(3). As a result, we demonstrate for the first time a separation property of the nonlinear attitude control problem in terms of the observer/controller based closed-loop system. For both the robotic and spacecraft attitude control problems, detailed derivations for the controller design and accompanying stability proofs are shown. The attitude estimator construction and its stability proof are presented separately. Numerical simulations are extensively performed to highlight closed-loop performance improvement vis-a-vis adaptive control design obtained through classical certainty equivalence based approaches. / text
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Control of sit-to-stand exoskeleton with human in the loop.Tchonko, Hervé Patrick. January 2014 (has links)
M. Tech. Electrical engineering. / Discusses the process of standing from a chair is the first movement to be affected by physical impairment or ageing. That justified the increase of researches around sit-to-stand movements nowadays.This thesis presents the design of a four links wearable device that can assist disable people to stand from a sitting position. The four links are joined at the ankle, the knee and the HAT (Head, Arm and Trunk) where actuators are mounted. The system is built around three controllers. The Goal Controller drives the links along their reference trajectories, the Stability Controller makes sure that the system does not collapse as it is rising, and the last controller combines the signal from the 2 first ones.The reference trajectories are obtained from data recorded from healthy people performing the movement. The main idea behind the present design is that from seat off, the floor projection of the body centre of pressure is evaluated and compared to the most stable position. The stability controller generates the torque necessary to compensate the deviation, while the third controller adjusts the level of participation of that torque to satisfy both the trajectory and the stability objectives. Similar idea was previously found in Prinz (2010).
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Satellite attitude control system based on model-free methodHu, Yangyang. January 2012 (has links)
M. Tech. Electrical Engineering / Deals with nonlinear methods for magnetic attitude control and reaction wheel attitude control. The work is divided into a number of parts. The first part, deals with the satellite attitude control basic information and development of a mathematical model of a low Earth orbit satellite. The second part introduces the controllers used in this dissertation. The third part deals with the dimension between the output of controller and input of reaction wheel. The fourth part solves the problem of the magnetic torque calculation. The last part carries out the simulation tests of those controllers for small satellite and cube satellite.
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