Global ETD Search

1	ADAPTIVE CONTROL FOR TRACKING AND DISTURBANCE ATTENUATION FOR SISO LINEAR SYSTEMS WITH REPEATED NOISY MEASUREMENTS CHEN, YU January 2003 (has links) No description available. integrator backstepping cost-to-come function adaptive control disturbance attenuation
2	Comparison and Analysis of Attitude Control Systems of a Satellite Using Reaction Wheel Actuators Kök, Ibrahim January 2012 (has links) In this thesis, analysis and comparison of different attitude control systems of a satelliteusing different reaction wheel configurations were investigated. Three different reactionwheel configurations (e.g. tetrahedron configuration, pyramid configuration, standardorthogonal 3-wheel configuration) and three control algorithms (Linear Quadratic Regulator,Sliding Mode, Integrator Backstepping) were analyzed and compared in terms of settlingtimes, power consumptions and actuator failure robustness. / <p>Validerat; 20121205 (global_studentproject_submitter)</p> tetrahedron configuration pyramid configuration Linear Quadratic Regulator Sliding Mode Integrator Backstepping
3	Robust Adaptive Control Design for Classes of SISO and MIMO Linear Systems Under Noisy Output Measurements Zeng, Sheng 04 April 2007 (has links) No description available. Nonlinear H<sup>&8734 </sup> control cost-to-come function integrator backstepping adaptive control
4	Reduced-Order Robust Adaptive Controller Design and Convergence Analysis for Uncertain SISO Linear Systems with Noisy Output Measurements Zhao, Qingrong January 2007 (has links) No description available. Engineering, Electronics and Electrical adaptive control nonlinear H-infinity control cost-to-come function integrator backstepping convergence analysis
5	Mechanical design, dynamic modeling and control of hydraulic artificial muscles Nikkhah, Arman 18 August 2020 (has links) Artificial human muscles have traditionally been operated through pneumatic means, and are known as Pneumatic Artificial Muscles (PAMs). Over the last several decades, Hydraulic Artificial Muscles (HAMs) have also been investigated due to their high power-to-weight ratio and human-like characteristics. Compared to PAMs, HAMs typically exhibit faster response, higher efficiency, and superior position control; characteristics which provide potential for application in rehabilitation robotics. This thesis presents a new approach to actuate artificial muscles in an antagonistic pair configuration. The detailed mechanical design of the test platform is introduced, along with the development of a dynamic model for actuating an artificial elbow joint. Also, custom manufactured Oil-based Hydraulic Artificial Muscles (OHAMs) are implemented in a biceps-triceps configuration and characterized on the test platform. Furthermore, an integrator-backstepping controller is derived for HAMs with different characteristics (stiffness and damping coefficients) in an antagonistic pair configuration. Finally, simulations and experimental results of the position control of the artificial elbow joint are discussed to confirm the functionality of the OHAMs utilizing the proposed actuating mechanism and the effectiveness of the developed control algorithm. / Graduate Integrator-backstepping Artificial muscles backstepping control Bio-inspired robotics Control Control Systems Dynamic modeling Dynamics Elbow joint HAMs Joint control Hydraulic artificial muscles Mechanical design Non-linear control Nonlinear control Opposing pair configurations PAMs PID pneumatic artificial muscles Robots Robotics Controller Design

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