No description available.

No description available.

The recent Generalised Predictive Control algorithm (Clarke et al, 1984,87) is a self-tuning/ adaptive control algorithm that is based upon long-range prediction, and is thus claimed to be particularly suitable for process control application. The complicated nature of GPC prevents the application of standard analytical techniques. Therefore an alternative technique is developed where an equivalent closed loop expression is repeatedly calculated for various control scenarios. The properties of GPC are investigated and, in particular, it is shown that 'default' values for GPC's design parameters give a mean-level type of control law that can reasonably be expected to provide robust control for a wide variety of processes. Two successful industrial applications of GPC are then reported. The first series of trials involve the SISO control of soap moisture for a full-scale drying process. After a brief period of PRBS assisted self-tuning default GPC control performance is shown to be significantly better than the existing manual control, despite the presence of a large time-delay, poor measurements and severe production restrictions. The second application concerns the MIMO inner loop control of a spray drying tower using two types of GPC controller: full multivariable MGPC, and multi-loop DGPC. Again after only a brief period of PRBS assisted self-tuning both provide dramatically superior control compared to the existing multi-loop gain-scheduled PID control scheme. In particular the use of MGPC successfully avoids any requirement for a priori knowledge of the process time-delay structure or input-output pairing. The decoupling performance of MGPC is improved by scaling and that of DGPC by the use of feed-forward. The practical effectiveness of GPC's design parameters (e.g. P, T and λ) is also demonstrated. On the estimation side of adaptive control the current state-of-the-art algorithms are reviewed and shown to suffer from problems such as 'blowup', parameter drift and sensitivity to unmeasurable load disturbances. To overcome these problems two novel estimation algorithms (CLS and DLS) are developed that extend the RLS cost-function to include weighting of estimated parameters. The exploitation of the 'fault detection' properties of CLS is proposed as a more realistic estimation philosophy for adaptive control than the 'continuous retention of adaptivity'.

We present real-time autonomous implementations of a practical distributed formation control scheme for a multi-quadrotor system for two different cases: parameters of linearized dynamics are exactly known, and uncertain system parameters. For first case, we design a hierarchical, decentralized controller based on the leader-follower formation approach to control a multi-quadrotor swarm in rigid formation motion. The proposed control approach has a two-level structure: high-level and low-level. At the high level, a distributed control scheme is designed with respect to the relative and global position information of the quadrotor vehicles. In the low-level, we analyze each single quadrotor control design in three parts. The first is a linear quadratic controller for the pitch and roll dynamics of quadrotors. The second is proportional controller for the yaw motion. The third is proportional-integral-derivative controller in altitude model. For the second case, where inertial uncertainties in the pitch and roll dynamics of quadrotors are considered, we design an on-line parameter estimation with the least squares approach, keeping the yaw, altitude and the high-level controllers the same as the first case. An adaptive linear quadratic controller is then designed to be used with lookup table based on the estimation of uncertain parameters. Additionally, we study on enhancement of self and inter-agent relative localization of the quadrotor agents using a single-view distance-estimation based localization methodology as a practical and inexpensive tool to be used in indoor environments for future works. Throughout the formation control implementations, the controllers successfully satisfy the objective of formation maintenance for non-adaptive and adaptive cases. Simulations and experimental results are presented considering various scenarios, and positive results obtained for the effectiveness of our algorithm.

The relationship between accommodation and myopia has been under investigation for many years, and the effort to understand it is ongoing. In this thesis, an introduction to the state of myopia research is given first, with particular reference to studies of accommodation and higher-order ocular aberrations, which feature in the subsequent chapters. Following a brief introduction to the general technique of aberrometry and visual stimulus control using adaptive optics, the development of a monocular adaptive optics instrument for this purpose is described. The instrument is used to vary a dioptric stimulus and record the accommodation response in pilot studies and a detailed experiment, which has also been published elsewhere. It is found, among other things, that accommodation can respond to more than one different input level during its latency period, and that such inputs can be stored until components of the accommodation control system are free to process them. Indications of a minimum halting time for accommodation, of around 0.6 s, are presented. In later chapters, the development and testing of a new, binocular adaptive optics apparatus will be found. As well as binocular aberrometry and adaptive optics control of stimulus aberrations, this instrument displaces images to allow for and stimulate ocular convergence in binocular accommodation experiments. It is the first instrument in the world with its combined functionalities. Finally, the contribution of this thesis is summarised, and further instrumentation development and experiments are put forward for the continuation of this branch of accommodation and myopia research.

A control algorithm is developed and applied to a previously designed tunable vibration absorber. The adaptive vibration absorber is capable of detecting the frequency of the driving force and tuning itself automatically to that particular frequency. The primary structure was previously designed to obtain a certain natural frequency. The absorber structure was previously designed so that its range of frequencies includes the natural frequency of the primary structure. The primary structure design consists of a cantilever beam with the absorber attachment hardware, and the vibration absorber assembly consists of three rods and a stepper motor. The control algorithm uses a look-up table and a gradient search to optimize the effectiveness of the absorber for vibration reduction on the primary structure. The look-up table uses an equation, based on experimental data, to transform a given voltage input, directly proportional to the forcing frequency, into an output command necessary to adjust the natural frequency of the absorber. Once the input voltage reaches a steady state, the gradient search routine adjusts the natural frequency of the absorber to ensure the absorber is tuned to the optimal frequency that minimizes the primary structure vibration. The primary structure with the adaptive absorber offers significant reduction to the vibration amplitudes of the primary structure, as compared to both the primary structure with no absorber and the primary structure with a passive absorber, throughout the 45 Hz to 71 Hz and 73 Hz to 108 Hz range. The primary structure with no absorber has a 1^st mode natural frequency of 72 Hz and offers the lowest vibration amplitudes, as compared to both the primary structure with the adaptive absorber and the primary structure with a passive absorber, throughout the ranges of 30 Hz to 45 Hz and 108 Hz to 130 Hz. The primary structure with the passive absorber offers the lowest vibration amplitudes of the primary structure, as compared to both the primary structure with no absorber and the primary structure with the adaptive absorber, throughout the 71 Hz to 73 Hz range. / Master of Science

The relationship between accommodation and myopia has been under investigation for many years, and the effort to understand it is ongoing. In this thesis, an introduction to the state of myopia research is given first, with particular reference to studies of accommodation and higher-order ocular aberrations, which feature in the subsequent chapters. Following a brief introduction to the general technique of aberrometry and visual stimulus control using adaptive optics, the development of a monocular adaptive optics instrument for this purpose is described. The instrument is used to vary a dioptric stimulus and record the accommodation response in pilot studies and a detailed experiment, which has also been published elsewhere. It is found, among other things, that accommodation can respond to more than one different input level during its latency period, and that such inputs can be stored until components of the accommodation control system are free to process them. Indications of a minimum halting time for accommodation, of around 0.6 s, are presented. In later chapters, the development and testing of a new, binocular adaptive optics apparatus will be found. As well as binocular aberrometry and adaptive optics control of stimulus aberrations, this instrument displaces images to allow for and stimulate ocular convergence in binocular accommodation experiments. It is the first instrument in the world with its combined functionalities. Finally, the contribution of this thesis is summarised, and further instrumentation development and experiments are put forward for the continuation of this branch of accommodation and myopia research.

Thesis (Ph. D.)--University of Missouri-Columbia, 2001. / Typescript. Vita. Includes bibliographical references (leaves 125-133). Also available on the Internet.

Thesis (Ph. D.)--University of Missouri-Columbia, 2001. / Typescript. Vita. Includes bibliographical references (leaves 125-133). Also available on the Internet.

High performance twin-tail aircraft, like the F-15 and F/A-18, encounter a condition known as tail buffet. At high angles of attack, vortices are generated at the wing fuselage interface (shoulder) or other leading edge extensions. These vortices are directed toward the twin vertical tails. When the flow interacts with the vertical tail it creates pressure variations that can oscillate the vertical tail assembly. This results in fatigue cracks in the vertical tail assembly that can decrease the fatigue life and increase maintenance costs. For many years, research has been conducted to understand this phenomenon of buffet and to reduce its adverse effects on the fatigue life of aerospace structures. Many proposed solutions to this tail buffet problem have had limited success. These include strengthening the tail, modifying the vortex flow, using an active rudder control, and leading edge extensions. Some of the proposed active controls include piezoelectric actuators. Recently, an offset piezoceramic stack actuator was used on an F-15 wind tunnel model to control buffet induced vibrations at high angles of attack. The controller was based on acceleration feedback control methods. In this thesis a procedure for designing the offset piezoceramic stack actuators is developed. This design procedure includes determining the quantity and type of piezoceramic stacks used in these actuators. The changes of stresses, in the vertical tail caused by these actuators during an active control, are investigated. In many cases, linear controllers are very effective in reducing vibrations. However, during flight, the natural frequencies of the vertical tail structural system changes as the airspeed increases. This in turn, reduces the effectiveness of a linear controller. Other causes such as the unmodeled dynamics and nonlinear effects due to debonds also reduce the effectiveness of linear controllers. In this thesis, an adaptive neural network is used to augment the linear controller to correct these effects.