Thesis (M.S.)--University of Missouri-Columbia, 2003. / Typescript. Vita. Includes bibliographical references (leaf 24). Also available on the Internet.

Thesis (M.S.)--University of Missouri-Columbia, 2003. / Typescript. Vita. Includes bibliographical references (leaf 24). Also available on the Internet.

Thesis (Ph.D.) -- University of Texas at Arlington, 2008.

This thesis presents a comparison of controller designs and a system software design for a general Guidance, Navigation and Control (GNC) system. The first part of the thesis investigates four control algorithms based on Lyapunov Direct Method in conjunction with sliding mode and adaptive control. These algorithms address three practical issues in controller design: maximum actuation limitation, external disturbances, and imperfect dynamic models. Each of the algorithms is proven to be globally asymptotically stable within its constraints. A simulation is then used to model a cube-satellite attitude maneuver using each of the controllers to evaluate its performance. The second part of this thesis discusses the development of a high-level flight software architecture capable of handling common tasks, including ground station communication and attitude maneuvers, as well as power or device failures. / text

Η διπλωματική εργασία αναπτύσσει έναν προσαρμοστικό έλεγχο για την παρακολούθηση προπορευόμενου οχήματος από το ακόλουθο όχημα στην "κατεύθυνση του μήκους" και κάνει την προσομοίωση σε περιβάλλον Matlab. / This essay devolops with adaptive control a model of automatic vehicle following so that a following vehicle can follow a leading vehicle in the longitudinal direction. And simulates the model with Matlab.

Summary Efficiency of the model reference based adaptive control systems is investigated and discussed in this master degree work. The main goal of this work was to evaluate and compare the performance characteristics of two widely used in mechatronics adaptive control approach – adaptive control approach based on controller parameters automatic adjustment (parameter adaptive approach) and adaptive control approach based on compensating control signal generation (signal adaptive control). Investigations were carried out on the model of the second order electromechanical velocity control system, realized with help of matlab/simulink software. Transmittance of the reference model is coincident with transmittance of conventional hierarchically arranged velocity control system, adjusted in respect of quantitative optimum conditions. The rapidity of adaptation process in the case of velocity controller detune or control object parameters change, the limits and velocity of system parameters drift and influence of external load on adaptation process were investigated for both – parameter adaptive and signal adaptive control systems cases. For obtaining of continue adaptation process, the harmonious reference and loading signals were applied on the system. The system parameters change was also modeled in harmonious mode. The modeling results allow comparing the performance characteristics of these both adaptive control methods. It was demonstrated in this work that signal... [to full text]

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