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Durham, Wayne. "Contributions to model following control theory". Diss., Virginia Polytechnic Institute and State University, 1989. http://hdl.handle.net/10919/54349.
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A standard form for linear and nonlinear perfect model following control problems is introduced, and the associated control laws developed. The error dynamics of such systems are analyzed with respect to stability of the error. The effects on the error dynamics of measurement errors and parameter variations are also analyzed, and it is seen that the perfect model following control problem is reduced to that of an error regulator.
The linear problem is analyzed to show that virtually all common problems are equivalent to standard form problems through similarity transformations. In the standard form, simple expressions for the control law and error dynamics are used to solve the problem.
The linear problem is also analyzed with respect to problems of different order model and plant systems, resulting in augmented system equations. These augmented systems are chosen so that the original dynamics are retained, and so that the higher order problem is in the standard form. The standard form problem is then solved as before.
Imperfect model following control problems are analyzed, with three associated results. First, a new t€St for perfect model following is developed. Pairs of models and plants that fail this or other tests are imperfect model following control problems. Second, the effect of using perfect model following control laws on such problems is determined to be equivalent to the addition of a forcing function on the error regulator problem. Third, a new approach to the solution of imperfect model following control problems is shown. This approach seeks to find models that simultaneously satisfy the criteria for perfect model following while retaining the desired characteristics of the intended model.
The methods developed in this analysis are applied to problems that illustrate all the principles addressed. The final example is a detailed application to a nonlinear simulation of the F-18 airplane involving control of all degrees of freedom over a large range of angles of attack.Ph. D.
2
Barlas, Mustafa Remzi. "Model-following control applications to nonlinear mechanical systems". Thesis, This resource online, 1992. http://scholar.lib.vt.edu/theses/available/etd-10312009-020202/.
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Silva, André Luís da. "Nonlinear optimum model following control of flexible aircraft". Instituto Tecnológico de Aeronáutica, 2010. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=1099.
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This Doctorate Thesis concerns optimum control of flexible aircraft. Models of a conceptual flexible aircraft are developed for control applications. A general model following problem via output feedback is developed and applied to the conceptual aircraft. The models are determined for 3 aircraft variants with increasing flexibility. The aerodynamics of flexible body is given by the Doublet Lattice method. The dynamics of the flexible structure is obtained via modal superposition. Controllability measures, given from control amplitude and rate constraints, are evaluated. Stabilization of flexible modes is performed via static output feedback. Control channels are defined with support of modal controllability and observability indexes. These applications contribute to determine the configuration of control surfaces. In order to treat the control of flexible aircraft, a rigid body approximation is proposed as the reference model. A general problem is posed, that consists in the determination of an optimum quadratic nonlinear output feedback for nonlinear plant and reference model, in order to approximate the input-output behavior of the reference model, for given performance outputs. Novel optimum and sub-optimum results, involving time variant and invariant linear state and output feedback and nonlinear time invariant output feedback, via neural networks, are developed. All these results are applied to the nonlinear model of conceptual aircraft and respective linear approximation, with comparisons among them. The efficiency and efficacy of the results are shown, and the importance of the nonlinear control is evidenced.
4
Kress, Reid Leonard. "Adaptive model-following control for hyperthermia treatment systems". Diss., The University of Arizona, 1988. http://hdl.handle.net/10150/184430.
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The purpose of this research was to develop three real-time adaptive temperature controllers for hyperthermia heating systems. Each scheme is made adaptive by using a transient Gaussian estimation routine to estimate the tissue blood perfusion and by then using these estimated values either in an optimizing routine, or in an observer, or in both. The optimizing routine uses a steady-state Gaussian estimation technique to optimize the power distribution until the best possible match is obtained between the steady-state temperatures predicted by a treatment model and a prespecified ideal temperature distribution. The observer uses a treatment model to control unmeasured locations. The first adaptive control scheme uses the optimizing routine alone, the second uses the observer alone and the third uses both the optimzing routine and observer. The performance of each of the adaptive control schemes is compared to a standard proportional-integral-derivative (PID) control scheme for one-dimensional simulations of typical treatments. Results comparing the deviation of the controlled temperature distribution to the ideal desired temperature distribution for all locations and all times indicate that the adaptive schemes perform better than the PID scheme. It can be concluded that adaptive control yields improved performance if good a priori knowledge of the treated region tissue and perfusion region boundaries is available. While these control schemes were designed for eventual implementation on a scanned focused ultrasound hyperthermia treatment system, the techniques are applicable to any system with the capability to vary specific power with respect to location and with an unknown distributed energy sink proportional to the temperature elevation.
5
Tang, Shiming. "Adaptive model following control for the robotics manipulator - PUMA 560". Ohio University / OhioLINK, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1182871986.
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Hicks, Dawn L. "Optimal design of digital model-following systems". Thesis, University of Salford, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.284423.
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RÖING, JACOB, i CARL JENSEN. "Modelling and design of PMSM position drivesusing model following control". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-299844.
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Teenage Engineering is a Swedish electronics company that want to automate their quality control process. For this purpose, they want to develop a test jig that can perform tactile testing of their products. The test jig will utilize PMSM motors for position control of the end-effector. This study aims at designing and developing a position controller for Permanent Magnet Synchronous Machine (PMSM). The study was conducted in two main stages. First, a MATLAB/Simulink model was developed for the PMSM driver using Field Oriented Control (FOC) to reduce speed ripple. Model Following Control (MFC) was introduced to add servo controller capabilities to the PMSM driver. Secondly, a Motor Control Unit (MCU) was designed with all the necessary components to implement the PMSM driver and to meet the stakeholder requirements. The study showed that high precision position control of PMSMs can be achieved with Model Following Control (MFC) in simulation. The study also highlights important aspects to consider when designing a custom PMSM servo driver. Due to delays of manufacturing the MCU, only a subset of the MCU’s functionality could be tested. This subset included the Pulse Width Modulation (PWM), Analogue to digital converter (ADC), current sensing and hall encoder implementations. However, more testing was needed to achieve full verification of the PMSM position driver on the MCU.Teenage Engineering är ett svenskt elektronikföretag som avser att automatisera kvalitetskontrollen av deras produkter. Av denna anledning vill företaget utveckla en fixtur med möjligheten att genomföra taktila tester på deras produkter. Detta examensarbete undersöker utvecklingsprocessen av en positionskontroller för en synkronmotor med permanenta magneter (PMSM). Fixturen kommer att använda synkronmotorer med permanenta magneter (PMSM) för att styra positionen av delen som interagerar med produkten som ska testas. Studien genomfördes i två huvudfaser. Först och främst utvecklades en simulering i MATLAB/Simulink av positionskontrollern. Kontrollern använder sig av vektorbaseradkontroll (FOC) för att minska hastighetsvariationer samt modellbaserad kontroll i syfte att positionsstyra motorn. Därefter designades en motorkontrollenhet (MCU) med alla nödvändiga komponenter för att implementera den simulerade kontrollern. Studien visade att hög precision av positionsstyrning kan åstadkommas med hjälp av modellbaserad kontroll i simulering. Studien understryker också viktiga avvägningar i designprocessen av en motorkontrollenhet för PMSM motorer. En del av funktionaliteten på motorkontrollenheten testades, men mer testning krävdes för att bedöma positionskontrollerns prestation i att styra motorn. De delarna som testades på motorkontrollenheten var pulsbreddsmodulering (PWM), analog till digital konvertering (ADC), strömavläsning samt vinkelavläsning via halleffektsensorn. Dock behövdes mer testning för att fullständigt kunna verifiera MCUn.
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Lapp, Tiffany Rae 1979. "Guidance and control using model predictive control for low altitude real-time terrain following flight". Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/30278.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2004.Includes bibliographical references (p. 123-125).
This thesis presents the design and implementation of a model predictive control based trajectory optimization method for Nap-of-the-Earth (NOE) flight. A NOE trajectory reference is generated over a subspace of the terrain. It is then inserted into the cost function and the resulting trajectory tracking error term is weighted for more precise longitudinal tracking than lateral tracking through the introduction of the TF/TA ratio. The TF/TA ratio, control effort penalties and MPC prediction horizon are tuned for this application via simulation and eigenvalue analysis for stability and performance. Steps are taken to reduce complexity in the optimization problem including perturbational linearization in the prediction model generation and the use of control basis functions which are analyzed for their trade-off between approximation of the optimal cost/solution and reduction of the optimization complexity. Obstacle avoidance including preclusion of ground collision is accomplished through the establishment of hard state constraints. These state constraints create a 'safe envelope' within which the optimal trajectory can be found. Results over a variety of sample terrains are provided to investigate the sensitivity of tracking performance to nominal velocities. The mission objective of low altitude and high speed was met satisfactorily without terrain or obstacle collision, however, methods to preclude or deal with infeasibility must be investigated as terrain severity (measured by commanded flight path angle) is increased past 30 degrees or speed is increased to and past 30 knots.
by Tiffany Rae Lapp.
S.M.
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Costa, Giuseppe Electrical Engineering & Telecommunications Faculty of Engineering UNSW. "Robust Control For Gantry Cranes". Awarded by:University of New South Wales. Electrical Engineering and Telecommunications, 1999. http://handle.unsw.edu.au/1959.4/17609.
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In this thesis a class of robust non-linear controllers for a gantry crane system are discussed. The gantry crane has three degrees of freedom, all of which are interrelated. These are the horizontal traverse of the cart, the vertical motion of the goods (i.e. rope length) and the swing angle made by the goods during the movement of the cart. The objective is to control all three degrees of freedom. This means achieving setpoint control for the cart and the rope length and cancellation of the swing oscillations. A mathematical model of the gantry crane system is developed using Lagrangian dynamics. In this thesis it is shown that a model of the gantry crane system can be represented as two sub models which are coupled by a term which includes the rope length as a parameter. The first system will consist of the cart and swing dynamics and the other system is the hoist dynamics. The mathematical model of these two systems will be derived independent of the other system. The model that is comprised of the two sub models is verified as an accurate model of a gantry crane system and it will be used to simulate the performance of the controllers using Matlab. For completeness a fully coupled mathematical model of the gantry crane system is also developed. A detailed design of a gain scheduled sliding mode controller is presented. This will guarantee the controller's robustness in the presence of uncertainties and bounded matched disturbances. This controller is developed to achieve cart setpoint and swing control while achieving rope length setpoint control. A non gain scheduled sliding mode controller is also developed to determine if the more complex gain scheduled sliding mode controller gives any significant improvement in performance. In the implementation of both sliding mode controllers, all system states must be available. In the real-time gantry crane system used in this thesis, the cart velocity and the swing angle velocity are not directly available from the system. They will be estimated using an alpha-beta state estimator. To overcome this limitation and provide a more practical solution an optimal output feedback model following controller is designed. It is demonstrated that by expressing the system and the model for which the system is to follow in a non-minimal state space representation, LQR techniques can be used to design the controller. This produces a dynamic controller that has a proper transfer function, and negates the need for the availability of all system states. This thesis presents an alternative method of solving the LQR problem by using a generic eigenvalue solution to solve the Riccati equation and thus determine the optimal feedback gains. In this thesis it is shown that by using a combination of sliding mode and H??? control techniques, a non-linear controller is achieved which is robust in the presence of a wide variety of uncertainties and disturbances. A supervisory controller is also described in this thesis. The supervisory control is made up of a feedforward and a feedback component. It is shown that the feedforward component is the crane operator's action, and the feedback component is a sliding mode controller which compensates as the system's output deviates from the desired trajectory because of the operator's inappropriate actions or external disturbances such as wind gusts and noise. All controllers are simulated using Matlab and implemented in real-time on a scale model of the gantry crane system using the program RTShell. The real-time results are compared against simulated results to determine the controller's performance in a real-time environment.
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Flood, Cecilia. "Real-time Trajectory Optimization for Terrain Following Based on Non-linear Model Predictive Control". Thesis, Linköping University, Department of Electrical Engineering, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1136.
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There are occasions when it is preferable that an aircraft flies asclose to the ground as possible. It is difficult for a pilot to predict the topography when he cannot see beyond the next hill, and this makes it hard for him to find the optimal flight trajectory. With the help of a terrain database in the aircraft, the forthcoming topography can be found in advance and a flight trajectory can be calculated in real-time. The main goal is to find an optimal control sequence to be used by the autopilot. The optimization algorithm, which is created for finding the optimal control sequence, has to be run often and therefore, it has to be fast.
This thesis presents a terrain following algorithm based on Model Predictive Control which is a promising and robust way of solving the optimization problem. By using trajectory optimization, a trajectory which follows the terrain very good is found for the non-linear model of the aircraft.
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Human, Gerhardus. "Model based predictive control for load following of a pressurised water reactor / Gerhardus Human". Thesis, North-West University, 2009. http://hdl.handle.net/10394/4017.
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By September 2009 the International Atomic Energy Agency reported that the
number of commercially operated nuclear reactors in 30 countries across the world
is 436, around 50 reactors are currently being constructed, 137 reactors have been
ordered or is already planned, and there are around 295 proposed reactors.
Pressurised water reactors (PWRs) make up the majority of these numbers. The
growing number of carbon emissions and the ongoing fight against fossil fuel power
stations might see the number of planned nuclear reactors increase even more to be
able to satisfy the world’s need for cleaner energy. To ensure that technology keeps
pace with this growing demand, ongoing research is essential. Not only is the
research of new reactor technologies (i.e. High Temperature Reactors) important,
but improving the current technologies (i.e. PWRs) is critical. With the increased
contribution of nuclear generated electricity to our grids, it is becoming more
common for nuclear reactors to be operated as load following units, and not base
load units as they are more commonly being operated. Therefore a need exists to
study and develop new strategies and technologies to improve the automatic load
following capabilities of reactors.
PWR power plants are multivariable systems. In this study a multivariable, more
specifically, a model predictive controller (MPC) is developed for controlling the load
following of a nuclear power plant, more specifically a PWR plant. In developing this
controller system identification is employed to develop a model of the PWR plant.
For the identification of the model, measured data from a computer based PWR
simulator is used as the input. The identified plant model is used to develop the MPC
controller. The controller is developed and tested on the plant model. The MPC
controller is also evaluated against another set of measured data from the simulator.
To compare the performance of the MPC controller to that of the conventional
controller the ITAE performance index is employed. During the process Matlab
®
, the
System Identification Toolbox™, the MPC Toolbox™ and Simulink
®
are used.
The results reveal that MPC is practicable to be used in the control of non-linear
systems such as PWR plants. The MPC controller showed good results for
controlling the system and also outperformed the conventional controllers. A further result from the dissertation is that system identification can successfully be used to
develop models for use in model based controllers like MPC controllers. The results
of the research show that a need exists for future research to improve the methods
to eventually have a controller that can be applied on a commercial plant.Thesis (M.Ing. (Nuclear Engineering))--North-West University, Potchefstroom Campus, 2010.
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Cavatassi, Jacopo. "Path Following Control of an Agricultural Skid-Steering Robot: An MPC Approach". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
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The purpose of this thesis is to describe and implement a control algorithm for an agricultural rover moving inside an orchard. This work is done on a real autonomous agricultural rover crafted at CASY Laboratory and is taught to help farmers in doing the most demanding jobs on the orchard. In particular, the work is not
focused on the simple navigation of the rover inside the rows, but on more difficult trajectories. The thesis focuses on the tracking of non-trivial trajectories required by the challenging scenario in which the rover is moving. Due to the orchards shape and to the ground geometry, often circular or squareform trajectories are required.
In addition, the rover can have the necessity to change the row to reach every part of the orchard and there can be some area that can be restricted and so the rover has to perform non-trivial trajectory even within a single row. In order to make the
rover realise its purpose of following a path, the control method chosen is the Model Predictive Control, a powerful approach that is well known and really effective, as shown throughout the development of the thesis. The realised controller has been
tested and analyzed with different trajectories and, moreover, with different parameters and constraints.
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Böck, Martin [Verfasser]. "Model Predictive and Flatness-based Path Following Control and Manifold Stabilization with Applications / Martin Böck". Aachen : Shaker, 2016. http://d-nb.info/1118258584/34.
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Carneiro, Gustavo Lima. "Model based predictive control applied to the aircraft longitudinal mode for a terrain following task". Instituto Tecnológico de Aeronáutica, 2009. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=1228.
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In the present work, a study is proposed about the applicability of a predictive controller to be used to control the longitudinal mode of an aircraft. The objective is to evaluate the performance of such control approach applied to a terrain following task, verifying the tracking suitability while respecting physical constraints to which the aircraft is subjected to. As examples, control surfaces range limitations, restrictions for the available thrust as well as other variables such as the angle of attack, velocity, pitch rate and the altitude itself. A fighter aircraft simplified model was used for the longitudinal movement to perform the simulations. The predictive control approach used was based on a linear prediction model described in the state space. Therefore, it was necessary to linearize the aircraft dynamic around an equilibrium point previously chosen. Two scenarios were evaluated for the same terrain profile. The first considered the simulation with the system nominal constraints. The second scenario covered an elevator actuator failure, in order to analyze the suitability of such controller when dealing with the online imposed constraints. The advantages of the predictive control methodology were evident based on the results for both scenarios, where an adequate terrain profile tracking was observed and, at the same time, the imposed restrictions were enforced in the performed simulations.
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Gwayi, Isaac. "Rollover prevention and path following of a scaled autonomous vehicle using nonlinear model predictive control". Master's thesis, Faculty of Engineering and the Built Environment, 2018. http://hdl.handle.net/11427/30054.
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Vehicle safety remains an important topic in the automotive industry due to the large number of vehicle accidents each year. One of the causes of vehicle accidents is due to vehicle instability phenomena. Vehicle instability can occur due to unexpected road profile changes, during full braking, obstacle avoidance or severe manoeuvring. Three main instability phenomena can be distinguished: the yaw-rate instability, the rollover and the jack-knife phenomenon. The main goal of this study is to develop a yaw-rate and rollover stability controller of an Autonomous Scaled Ground Vehicle (ASGV) using Nonlinear Model Predictive Control (NMPC). Open Source Software (OSS) known as Automatic Control and Dynamic Optimisation (ACADO) is used to design and simulate the NMPC controller based on an eight Degree of Freedom (8 DOF) nonlinear vehicle model with Pacejka tire model. Vehicle stability limit were determined using load transfer ratio (LTR). Double lane change (DLC) steering manoeuvres were used to calculate the LTR. The simulation results show that the designed NMPC controller is able to track a given trajectory while preventing the vehicle from rolling over and spinning out by respecting given constraints. A maximum trajectory tracking error of 0.1 meters (on average) is reported. To test robustness of the designed NMPC controller to model mismatch, four simulation scenarios are done. Simulation results show that the controller is robust to model mismatch. To test disturbance rejection capability of the controller, two simulations are performed, with pulse disturbances of 0.02 radians and 0.05 radians. Simulations results show that the controller is able to reject the 0.02 radians disturbance. The controller is not able to reject the 0.05 radians disturbance.
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Mörhed, Joakim, i Filip Östman. "Automatic Parking and Path Following Control for a Heavy-Duty Vehicle". Thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496.
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The interest in autonomous vehicles has never been higher and there are several components that need to function for a vehicle to be fully autonomous; one of which is the ability to perform a parking at the end of a mission. The objective of this thesis work is to develop and implement an automatic parking system (APS) for a heavy-duty vehicle (HDV). A delimitation in this thesis work is that the parking lot has a known structure and the HDV is a truck without any trailer and access to more computational power and sensors than today's commercial trucks. An automatic system for searching the parking lot has been developed which updates an occupancy grid map (OGM) based on measurements from GPS and LIDAR sensors mounted on the truck. Based on the OGM and the known structure of the parking lot, the state of the parking spots is determined and a path can be computed between the current and desired position. Based on a kinematic model of the HDV, a gain-scheduled linear quadratic (LQ) controller with feedforward action is developed. The controller's objective is to stabilize the lateral error dynamics of the system around a precomputed path. The LQ controller explicitly takes into account that there exist an input delay in the system. Due to minor complications with the precomputed path the LQ controller causes the steering wheel turn too rapidly which makes the backup driver nervous. To limit these rapid changes of the steering wheel a controller based on model predictive control (MPC) is developed with the goal of making the steering wheel behave more human-like. A constraint for maximum allowed changes of the controller output is added to the MPC formulation as well as physical restrictions and the resulting MPC controller is smoother and more human-like, but due to computational limitations the controller turns out less effective than desired. Development and testing of the two controllers are evaluated in three different environments of varying complexity; the simplest simulation environment contains a basic vehicle model and serves as a proof of concept environment, the second simulation environment uses a more realistic vehicle model and finally the controllers are evaluated on a full-scale HDV. Finally, system tests of the APS are performed and the HDV successfully parks with the LQ controller as well as the MPC controller. The concept of a self-parking HDV has been demonstrated even though more tuning and development needs to be done before the proposed APS can be used in a commercial HDV.
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Hall, Sarah Elizabeth. "Model following control strategies and human interface techniques for the treatment of time delay during teleoperation". College Park, Md. : University of Maryland, 2004. http://hdl.handle.net/1903/2064.
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Thesis (Ph. D.) -- University of Maryland, College Park, 2004.Thesis research directed by: Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Welch, Torrence David Jesse. "A feedback model for the evaluation of the adaptive changes to temporal muscle activation patterns following postural disturbance". Diss., Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/29674.
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Thesis (Ph.D)--Biomedical Engineering, Georgia Institute of Technology, 2009.Committee Chair: Ting, Lena; Committee Member: Chang, Young-Hui; Committee Member: Nichols, T. Richard; Committee Member: Schumacher, Eric; Committee Member: Thoroughman, Kurt. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Kazim, Khalid J. [Verfasser]. "Towards a unified approach for path-following and force-feedback using nonlinear model predictive control / Khalid J. Kazim". Magdeburg : Universitätsbibliothek, 2017. http://d-nb.info/1130704343/34.
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Aksaray, Derya. "Autonomous Hopping Rotochute". Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39578.
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The Hopping Rotochute is a promising micro vehicle with the capability of exploring rough and complex terrains with minimum energy consumption. While it is able to fly over obstacles via thrust produced by its coaxial rotor, its physical architecture, inspired from a "Weebles Wooble," provides re-orientation wherever it hits the ground. Therefore, this aerial and ground vehicle represents a potential hybrid vehicle capable of reconnaissance and surveillance missions in complex environments.
The most recent version of the Hopping Rotochute is manually controlled to follow a trajectory. The control commands, listed in a file prior to the particular mission, are executed exactly as defined, like a "batch job," regardless of the uncertain external events. This control scheme is likely to cause great deviations from the route. Consequently, the vehicle may finish the mission very far away from the desired end point. However, if a vehicle is capable of receiving the control commands during a mission, "interactive processing" can be realized and efficient path tracking would be achieved. Hence, the development of the Hopping Rotochute that follows a trajectory autonomously reveals the foundation of this thesis.
Two control approaches inspired the proposed methodology for developing an autonomous trajectory-following algorithm. The first approach is rule-based control that enables decision making through conditional statements. In this thesis, rule-based control is used to select a target point for a particular hop based on the existence of an obstacle and/or wind in the environment. The second approach is model predictive control employed to predict future outputs from hop performance models. In other words, this technique approaches the problem by providing intelligence pertaining to how a particular hop will end up before being attempted. Hence, the optimum control commands are selected based on the predicted performance of a particular hop.
This research demonstrates that the autonomous Hopping Rotochute can be realized by rule-based control embedded with some performance models. In the assumption of known boundaries such as wall and ceiling information, this study has two aims: (1) to avoid obstacles by creating a smaller operational volume inside the real boundaries so that the vehicle is restricted from exiting the operational volume and no violation occurs within the real boundaries; (2) to estimate the wind by previous hops to select the next hopping point with respect to the estimated wind information. Based on the developed methodology, simulations are conducted for four different scenarios in the existence of obstacles and/or wind, and the results of the simulations are analyzed. Finally, based on the statistics of simulation results, the effectiveness of the proposed methodology is discussed.
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Matimba, Tawanda Arnold Daniel. "A thermo-hydraulic model of the inventory control system for load following in the PBMR / Tawanda Arnold Daniel Matimba". Thesis, North-West University, 2004. http://hdl.handle.net/10394/478.
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This dissertation is aimed at the development of a thermo-hydraulic model of the
Inventory Control System (ICS) for the Pebble Bed Modular Reactor (PBMR), which is a
helium cooled nuclear power plant. The model is used as a design and simulation tool.
The ICS is a storage facility whose function is to perform load following through helium
mass transfer to and from the PBMR p e r cycle. This mass transfer generally uses
pressure differential as the driving force.
With a view to minimize the storage volume of the ICS, and hence improve the economics
of the design, several concepts were investigated, many of which attain storage
effectiveness by employing a heat transfer mechanism for cooling or heating the helium
appropriately during mass transfer. From this, a suitable concept for the ICS was found to
be a multi-tank arrangement, with a heat capacitance within each tank. This heat
capacitance is in the form of perforated steel, and provides the heat transfer mechanism
that aids mass transfer under pressure differential.
The thermodynamic model of the multi-tank concept, owes its foundation to the
conservation principles of mass, energy and momentum, and includes a cost structure to
address the economic aspect of the design. This model is developed in the Engineering
Equation Solver (EES) software environment.
For a specified power reduction down to 45% of the full power (166 MW), the ICS must
store at least 2.4 tonnes (from a total of 4.7 tonnes) of helium. To do this, the optimal
design entails an arrangement of six similarly sized tanks with a total storage volume of
609 m3, 2.5% of which is occupied by the heat capacitance.
An alternative model developed in Flownex was used to validate the EES model. Good
correlation was obtained overall, particularly with regards to the tank pressures during
helium mass transfer. As a result, the thermo-hydraulic model was deemed suitable as a
design and simulation tool.Thesis (M.Ing. (Mechanical Engineering))--North-West University, Potchefstroom Campus, 2005.
22
Adams, Christopher James. "Modeling and control of helicopters carrying suspended loads". Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/44852.
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Helicopters are often used to transport supplies and equipment. When a heavy load is carried via suspension cables below a helicopter, the load oscillates in response to helicopter motion and disturbance forces, such as wind. This oscillation is dangerous and adversely affects control of the helicopter, especially when carrying large or heavy loads. By adding input shaping to the helicopter's flight controller, the suspended load oscillation caused by helicopter motion is greatly reduced. A significant benefit of this approach is that it does not require measurement of the load position. This thesis contains derivations and analysis of simple planar helicopter-load dynamic models, and these models are verified using experimental data from model-scale, radio-controlled helicopters. The effectiveness of input shaping at eliminating suspended load oscillation is then demonstrated on this experimental hardware. In addition, the design of an attitude command, near-hover flight controller that combines input shaping and a common flight control architecture is illustrated using dynamic models of a Sikorsky S-61 helicopter, and simulation results are shown for example lateral and longitudinal repositioning movements. Results show that applying input shaping to simulated pilot commands greatly improves performance when carrying a suspended load.
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Karlsson, Mattias, i Sebastian Johansson. "Evaluation of Traction Control Systems for an Electric Forklift Truck". Thesis, Linköpings universitet, Fordonssystem, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176552.
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This thesis evaluates different controllers for traction control on an electric forklift truck and has been done in cooperation with Toyota Material Handling Manufacturing Sweden. The need for a traction control system has increased with the introduction of lithium-ion batteries replacing the older lead-acid batteries, reducing the battery weight and therefore the downward force on the driving wheel increasing the risk for slip. The forklift truck was modelled using Simulink and validated by experiment. Different possible control strategies were investigated and three were chosen for implementation in simulation. These were controllers based on Model Following Control, Maximum Transmissible Torque Estimation and Sliding Mode Control. Model Following Control makes use of a nominal model to compare actual wheel speed values with nominal wheel speed values to determine if slip is occurring, Maximum Transmissible Torque Estimation makes use of a closed-loop disturbance observer to compute the maximum transmissible torque possible without inducing slip and using it as a limitation on the input signal, and Sliding Mode Control uses different functions to \say{slide} along a sliding surface to stay around a specific slip value. All three controller types were developed both as speed controlled and torque controlled. All of the controllers could reduce slip heavily in simulation. The Maximum Transmissible Torque Estimation controller reduced slip the most and kept oscillations at a minimum, but was not as responsive as the others to driver commands. The conclusion was that the controller of choice would depend on the working environment of the forklift truck. In a low friction environment where slip is expected to occur often, the Maximum Transmissible Torque Estimation controller is advisable, while the other two would be a better choice for environment with low slip occurrence. The use of torque control, while often better with regards to decreasing slip, could not be advised due to a perceived increase in implementation cost.
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Sabatani, Emanuele. "Thermal Modeling and Control of a Capsule Welding Machine". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
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This Master Thesis has been developed in collaboration with the IMA group.
Its objective is to study an existing machine for coffee capsules production and to propose an alternative temperature controller for the welding process. In fact, one of the main issues of the apparatus is the difficult regulation of the temperature, because of its changing working conditions. Problems of high thermal inertia make the system not able to react quickly to
the control action, especially at the beginning of the welding phase, creating difficulties in all the system and affecting the quality of the final product.
This thesis has this structure: In Chapter 1 the mechanical structure of the machine is analyzed, empathizing the main aspects of the welding apparatus. Moreover, the electrical and electronic hardware is described, in order to realize how the control architecture of the welding apparatus works. In Chapter 2 models for simulation and control of the welding
apparatus are developed, with the objective of obtaining a lumped parameter representation of it. Then, some simulations with Matlab/Simulink are carried out in order to check the behavior of the model. Techniques of Physical Modeling and System Identification are exploited together in order to obtain a realistic model of the heat transmission. The modeling phase is concluded in Chapter 3 where the obtained lumped parameter model is validated.
Chapter 4 has the goal of analyzing and synthesizing an optimal control algorithm for the temperature regulation of the welding apparatus, with emphasis on the predictability and robustness of the control action in presence of varying working conditions. Chapter 5 is aimed at implementing the control algorithm
in a commercial hardware. Then, the control software is validated in the machine, in order to verify its real effectiveness. Finally, Chapter 6 exhibits the conclusions and the further developments that are related to the study carried out in this thesis.
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Dodsworth, Joel Andrew. "The application of vehicle classification, vehicle-to-infrastructure communication and a car-following model to single intersection traffic signal control". Thesis, University of Leeds, 2018. http://etheses.whiterose.ac.uk/22741/.
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On-line responsive traffic signal optimization strategies most commonly use data received from loop detectors to feed information into an underlying traffic model. The limited data available from conventional detection systems has dictated the way that current 'state-of-the-art' traffic signal control systems have been developed. Such systems tend to consider traffic as having homogenous properties to avoid the requirement for more detailed knowledge of individual vehicle properties. However, a consequence of this simplification is to limit an optimizer in achieving its objectives. The first element of this study investigates whether additional data regarding vehicle type can be reliably extracted from conventional detection to improve optimizer performance using existing infrastructure. A single detector classification algorithm is developed and it is shown that, using a modification of an existing state-of-the-art optimization method, a modest improvement in performance can be achieved. The emergence of connected vehicle technology and, in particular, Vehicle-to-Infrastructure (V2I) communications promises more comprehensive data. V2I-based optimization methods proposed in literature require a minimum penetration rate of V2I equipped vehicles before performance matches existing systems. To address this problem, the second part of the study focuses on the development of a hybrid detection model that is capable of simultaneously using information from conventional and V2I detection. It is demonstrated that the hybrid detection model can begin to realise benefits as soon as V2I data becomes available. V2I-based vehicle classification is then applied to the developed hybrid model and significant benefits are demonstrated for HGVs. The final section of the thesis introduces the use of a more sophisticated internal traffic model and a new optimization method is developed to implement it. The car-following model based optimization method addresses the lack of modelled interaction between vehicles and is shown to be capable of reducing vehicle stops over and above the developed (vertical queue based) hybrid model.
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Dardis, Christina M. "An Integrative Theory Analysis of Real-Life and Cyber Unwanted Pursuit Perpetration Following Relationship Break-Up". Ohio University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1400764792.
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Furieri, Luca. "Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amslaurea.unibo.it/11872/.
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The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs).
In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed.
In this thesis, a nonlinear-geometric guidance strategy is presented, addressing this problem. More broadly, a methodology is proposed for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed.
The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path.
As an alternative approach, an algorithm based on Model Predictive Control (MPC) is developed, and a comparison between advantages and disadvantages of both approaches is drawn.
Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.
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Krupiński, Szymon. "Suivi des structures offshore par commande référencée vision et multi-capteurs". Thesis, Nice, 2014. http://www.theses.fr/2014NICE4051.
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Cette thèse vise à rendre possible l’utilisation des véhicules sous-marins autonomes (AUVs) dans l’inspection visuelle des structures offshore. Deux tâches sont identifiées: le suivi des structures rectilignes et la stabilisation devant les cibles planaires. Les AUVs complétement actionnés et équipés d'une centrale inertielle, un DVL, un altimètre et une caméra vidéo sont visés. La dynamique en 6 d.d.l. d'un AUV est rappelée. L'architecture de contrôle reflétant la structure en cascade de la dynamique est choisie. Une boucle interne asservie la vitesse du véhicule à la consigne et une boucle externe calcule la vitesse de référence à partir des informations visuelles. Le suivi de pipe est assuré par l'asservissement visuel 2D qui calcule la vitesse de référence à partir des bords du pipeline détectés dans l’image. La convergence globale asymptotique et localement exponentielle de la position, de l’orientation et de la vitesse sont obtenues. Le contrôleur de stabilisation utilise la matrice d’homographie. Seule la connaissance imprécise de l’orientation de la cible est nécessaire. L’information cartésienne de la profondeur de la cible est estimée à l’aide d’un observateur. La convergence quasi-globale et localement exponentielle de ce contrôleur est démontrée. Afin de tester ces méthodes un simulateur a été développé. Des images de synthèse de haute-fidélité sont générées à partir de simulateur Morse. Elles sont traitées en temps réel à l’aide de la bibliothèque OpenCV. Un modèle Simulink calcule la dynamique complète des 6 d.d.l. du véhicule simulé. Des résultats détaillés sont présentés et mettent en avant les résultats théoriques obtenusThis thesis deals with a control system for a underwater autonomous vehicle given a two consequent tasks: following a linear object and stabilisation with respect to a planar target using an on-board camera. The proposed solution of this control problem takes advantage of a cascading nature of the system and divides it into a velocity pilot control and two visual servoing schemes. The serving controllers generate the reference velocity on the basis of visual information; line following is based on binormalized Pluecker coordinates of parallel lines corresponding to the pipe contours detected in the image, while the stabilisation relies on the planar homography matrix of observed object features, w.r.t. the image of the same object observed at the desired pose. The pilot, constructed on the full 6 d.o.f. nonlinear model of the AUV, assures that the vehicle’s linear and angular velocities converge to their respective setpoints. Both image servoing schemes are based on minimal assumptions and knowledge of the environment. Validation is provided by a high-fidelity 6 d.o.f. dynamics simulation coupled with a challenging 3D visual environment, which generates images for automatic processing and visual servoing. A custom simulator is built that consist of a Simulink model for dynamics simulation and the MORSE robot and sensor simulator, bound together by ROS message passing libraries. The OpenCV library is used for real-time image processing. Methods of visual data filtering are described. Thus generated experimental data is provided that confirms the desired properties of the control scheme presented earlier
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Moog, Claude. "Inversion, decouplage, poursuite de modele des systemes non lineaires". Nantes, 1987. http://www.theses.fr/1987NANT2030.
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Analyse des systemes non lineaires et leur commande par bouclage dynamique par approches structurelle et algebrique differentielles. Etude de l'inversion des systemes non lineaires a partir de notions algebriques et obtention de facon algorithmique de la structure a l'infini pour une classe generales de systemes non lineaires d'ou l'extension d'une liste d'invariants definie dans le cas de systemes lineaires invariants
30
Harmouche, Mohamed. "Contribution à la théorie de la commande par modes glissants d'ordre supérieur et à la commande des systèmes mécaniques sous-actionnés". Thesis, Belfort-Montbéliard, 2013. http://www.theses.fr/2013BELF0214/document.
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Les systèmes non linéaires sont si diverses que des outils communs de contrôle sont difficiles à développer. La théorie du contrôle non linéaire nécessite une analyse mathématique rigoureuse pour motiver ses conclusions. Cette thèse aborde deux branches distinctes et bien importantes de la théorie du contrôle non linéaire: le contrôle des systèmes non-linéaires incertains et le contrôle des systèmes sous-actionnés.Dans la première partie, une classe de contrôleurs par mode glissant d’ordre supérieur (MGOS) robuste, basée sur la synthèse de Lyapunov, est développée pour le contrôle des systèmes non-linéaires incertains. Cette classe de contrôleurs est basée sur une classe de régulateurs qui stabilisent une pure chaîne d’intégrateurs en temps fini, et nécessite la connaissance a priori des bornes sur les incertitudes du système. Puis, afin d’éliminer la dépendance liée à la connaissance de ces bornes, un contrôleur par MGOS adaptatif est développé. Dans un deuxième temps, un contrôleur par MGOS homogène universel est développé où il est montré que le degré d’homogénéité peut être manipulé pour obtenir des avantages supplémentaires, tels que la bornitude de la commande, la garantie d’une amplitude minimale de la discontinuité de la commande et la convergence en temps fixe. Les performances des contrôleurs proposés ont été démontrées par des simulations et à travers des résultats expérimentaux sur un système pile à combustible.Dans la deuxième partie de la thèse, deux problèmes de commande de systèmes sous-actionnés sont étudiés. Le premier problème concerne le suivi de chemin global d’un robot mobile avec un point de visée. Le deuxième problème concerne la poursuite de trajectoire globale d’un bateau. Ces deux problèmes sont de nature distincte, cependant, ils sont soumis à des contraintes physiques similaires liées à la bornitude de la commande. Ainsi, les contrôleurs proposés sont basés sur l’utilisation de commandes saturées. Des simulations ont été effectuées pour démontrer les performances de ces contrôleursNonlinear systems are so diverse that generalized tools for control are difficult to develop. Nonlinear control theory requires rigorous mathematical analysis to justify its conclusions. This thesis addresses two distinct, yet important branches of nonlinear control theory: control of uncertain nonlinear systems and control of under-actuated systems.In the first part, a class of Lyapunov-based robust arbitrary higher order sliding mode (HOSM) controllers is developed for the control of uncertain nonlinear systems. This class of controllers is based on a class of controllers for finite-time stabilization of pure integrator chain, and requires the limits of the system uncertainty to be known a-priori. Then, in order to eliminate the dependence on the knowledge of these limits, an adaptive arbitrary HOSM controller is developed. Using this new class, a universal homogeneous arbitrary HOSM controller is developed and it is shown that the homogeneity degree can be manipulated to obtain additional advantages in the proposed controllers, such as bounded control, minimum amplitude of discontinuous control and fixed time convergence. The performance of the controllers has been demonstrated through simulations and experiments on a fuel cell system.In the next part, the control of two under-actuated systems is studied. The first control problem is the global path following of car-type robotic vehicle, using target-point. The second problem is the precise tracking of surface marine vessels. Both these problems are distinct in nature; however, they are subjected to similar physical constraints. The solutions proposed for these control problems use saturated controls, taking into account the physical bounds on the control inputs. Simulations have been performed to demonstrate the performance of these controllers
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YANG, FU-JI, i 楊富吉. "Model following fuzzy control of servo systems". Thesis, 1993. http://ndltd.ncl.edu.tw/handle/96483808575121848149.
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Yung-JianWang i 王永建. "Adaptive Model-Following Control of the Hydraulic Servomechanism". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/g7ge8m.
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碩士崑山科技大學
機械工程研究所
97
In this paper, the adaptive model-following control theory applied to the position control of the hydraulic servomechanism is first presented. Second, the digital adaptive model-following PID controller is implemented on the PC-based computer with the Delphi 6.0 software. The simulated and experimental results show that the performances of the PID controller with and without the adaptive model-following control effects. The model following effects on the position control show that the performances of the PID controller can be improved by a suitable adaptation signal. Analysis of the hydraulic servo system to identify the dynamic model, this model use MATLAB / Simulink simulation software adaptive model-following PID controller. Use computer simulation model to analyze and design controllers, prove the correctness of simulation parameters.
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JIANG, XING-YA, i 蔣興亞. "Adaptive model following control with variable structure system for position control". Thesis, 1987. http://ndltd.ncl.edu.tw/handle/38853899818609958305.
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Chi-Jui, Kao. "Intelligent Car-Following Control Using Cerebellar Model Articulation Controller". 2004. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611330076.
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ZHANG, WEN-YU, i 張文裕. "The robust adaptive model-following control algorithm for manipulators". Thesis, 1986. http://ndltd.ncl.edu.tw/handle/87330478299069403441.
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Kao, Chi-Jui, i 高啟瑞. "Intelligent Car-Following Control Using Cerebellar Model Articulation Controller". Thesis, 2004. http://ndltd.ncl.edu.tw/handle/41258903770963265558.
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碩士元智大學
電機工程學系
92
The application of new technologies of computer and communications on the transportation vehicle can improve the vehicle safety and accelerate the vehicle performance dramatically. Also, the vehicle can communicate with all other information suppliers at any time. This is called the Intelligent Vehicle (IV). This thesis focuses on the design of the cerebellar model articulation controller (CMAC) based on adaptive control, supervisory control and recursive control, which attempt to provide a comprehensive treatment of CMACs in closed-loop control applications. For supervisory recurrent cerebellar-model articulation controller (SRCMAC), the car-following control system is formulated as a tracking problem. The SRCMAC is designed to achieve satisfactory tracking performance for car-following control system. Finally, a design method of recurrent CMAC for multi-input multi-output nonlinear systems is developed and is applied to lane-change control system. From the simulation results, the proposed intelligent control techniques have been shown to achieve satisfactory control performance for the considered nonlinear systems. In addition to use matlab’s simulations, the virtual reality (VR) simulations are also carried out. In the VR system, we use 3D Studio MAX to construct the scenes, and use the 3D animation development tool MATFOR VR to program the entire playing process. Moreover, we add dynamic motion equation and control method into the scenes, and use virtual reality technique to show the motion of translation and rotation of vehicles.
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Chen, Chin-TA, i 陳金達. "Model Following based μ-Synthesis Control of Induction Motors". Thesis, 2000. http://ndltd.ncl.edu.tw/handle/92882386727764583470.
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碩士國立中山大學
電機工程學系研究所
88
In 1970’s, by applying the field-oriented analysis method, the decoupling of motor speed (motor torque) and rotor flux is obtained. However, the performance is rather sensitive to the variation of motor parameters, especially the motor time constant, which varies with the temperature and saturation of magnetizing inductance. In this thesis, the model following based μ design for induction motor speed control is studied. Roughly speaking, the model following component provides a reference model with desired closed-loop performance and the μ component provides a systematic synthesis procedure so that, under practical uncertainty and load disturbance, the goal of asymptotic model following is achieved.
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GU, GI-WEI, i 顧琪偉. "Design of adaptive model following control (AMFC) system with bang-bang control". Thesis, 1986. http://ndltd.ncl.edu.tw/handle/05723226751825205872.
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Zhang, Zhang. "Path-following control for power generating kites using economic model predictive control approach". Thesis, 2019. http://hdl.handle.net/1828/10912.
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Exploiting high altitude wind energy using power kites is an emerging topic in the field of renewable energy. The claimed advantages of power kites over traditional wind power technologies are the lower construction costs, less land occupation and more importantly, the possibility of efficiently harvesting wind energy at high altitudes, where more dense and steady wind power exists. One of the most challenging issues to bring the power kite concept to real industrialization is the controller design. While traditional wind turbines can be inherently stabilized, the airborne nature of kites causes a strong instability of the systems. This thesis aims to develop a novel economic model predictive path-following control (EMPFC) framework to tackle the path-following control of power kites, as well as provide insightful stability analysis of the proposed control scheme.
Chapter 3 is focused on the stability analysis of EMPFC. We proceed with a sampled-data EMPC scheme for set-point stabilization problems. An extended definition of dissipativity is introduced for continuous-time systems, followed by giving sufficient stability conditions. Then, the EMPFC scheme for output path-following problems is proposed. Sufficient conditions that guarantee the convergence of the system to the optimal operation on the reference path are derived. Finally, an example of a 2-DoF robot is given. The simulation results show that under the proposed EMPFC scheme, the robot can follow along the reference path in forward direction with enhanced economic performance, and finally converges to its optimal steady state.
In Chapter 4, the proposed EMPFC scheme is applied to a challenging nonlinear kite model. By introducing additional degrees of freedom in the zero-error manifold (i.e., the space where the output error is zero), a relaxation of the optimal operation is achieved. The effectiveness of the proposed control scheme is shown in two aspects. For a static reference path, the generated power is increased while the kite is stabilized in the neighborhood of the reference path. For a dynamic reference path, the economic performance can be further enhanced since parameters for the reference path are treated as additional optimization variables. The proposed EMPFC achieves the integration of path optimization and path-following, resulting in a better economic performance for the closed-loop system. Simulation results are given to show the effectiveness of the proposed control scheme.
Finally, Chapter 5 concludes the thesis and future research topics are discussed.Graduate
2020-05-14
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LIN, DA-WEI, i 林大為. "Application of variable-structure model-following control system in DC motor speed control". Thesis, 1987. http://ndltd.ncl.edu.tw/handle/05346259009577894029.
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LIN, JIAN-CONG, i 林建聰. "A variable structure model following control of an elastic robot". Thesis, 1987. http://ndltd.ncl.edu.tw/handle/73271186759705525427.
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Yan, Gwo Ming, i 顏國名. "Integral Variable Structure Model Following Control for DC Motor Drivers". Thesis, 1995. http://ndltd.ncl.edu.tw/handle/09775435960854047622.
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碩士國立中山大學
電機工程研究所
83
In this paper, the design and implement of a DSP-based dc motor servo driver are presented. An integral variable structure model following control approach for the position/ velocity loop of the dc motor driver. This approach combines an integral variable structure control approach with a model following control system and achieves accurate position/velocity servo tracking in the presence of load disturbances and plant parameter variation by simulation and experiment results. The concept of model following control system is to use a reference model, which specifies the design requirements, as a part of the control system. The integral variable structure control approach is applied to the design of a model following control system. An experimental prototype system which consists of an ADSP21020 DSP micro- processor is constructed. The driver can be divided into four parts, control, power, feedback and power supply circuits. The control part deals with the control procedure and algorithm. The peripheral interface circuits are composed of D/A converter , A/D converter and encoder/counter circuits. The feedback circuits are composed of position sensor, current sensor and preservation circuits. The power circuits are composed of the isolated amplifier and power switch. The power supply circuits are composed of the regulator and filter. This paper proves the properties of this drivers and the feasibility of this approch.
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周建興. "A study of model following control design in flight vehicles". Thesis, 1990. http://ndltd.ncl.edu.tw/handle/ye228t.
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Chang, Kai-Sheng, i 張凱勝. "Model Following Adaptive Fuzzy Control Design for a Biped Robot". Thesis, 2008. http://ndltd.ncl.edu.tw/handle/49512703291015620799.
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碩士大同大學
電機工程學系(所)
96
In this thesis, model following adaptive fuzzy tracking control is presented for multi-input multi-output (MIMO) biped robot.An adaptive fuzzy controller is constructed from a set of fuzzy IF-THEN rules whose parameters are adjusted on-line according to some adaptation law for the purpose of controlling the plant to track a given trajectory. The fuzzy logic systems are used to approximate the unknown nonlinear system functions of biped robot while the adaptive law is proposed to adjust the parameters of the fuzzy controller on-line.The stability and robustness properties of the proposed adaptive fuzzy control scheme are established by using Lyapunov stability tools. The performance of the proposed control scheme is verified by computer simulation and experimental studies.The simulation studies discuss two kind of cases in this thesis.The first case is to discuss the system performance using different desired trajectories. The second case is to track a series trajectory plans of walking for the biped robot.In simulation, we use the robot's hip and leg trajectory. We can find the relation of geometry by computing the trajectories. Using the relation, we can get the angles of the links. We apply the angles as inputs to the propose controller for simulation. We use the data from the output of the controller for the data of the motor of the robot. By using the robot control interface, we apply the data to the robot such that make the robot walk. Finally, we will use a biped walking robot to verify the simulation results and effectiveness of the proposed method.
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Sheng, Chia-Hsu, i 許嘉升. "Gain scheduled model following control of uncertain pendulum：A data-based design". Thesis, 2003. http://ndltd.ncl.edu.tw/handle/48717470897908703838.
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碩士國立成功大學
航空太空工程學系碩博士班
91
In general, the first step in the procedure for designing a controller is to do the system identification. Today, Data-Based Controller Synthesis (DBCS) is a very fast method to design controller. Because this method is based on open-loop test data and the desired close-loop system model parameters even if the parameterized model is unknown. In this thesis, we applied the method to design controller, making the mechanical system of a DC motor with a rod fixed on the shaft to do the position control. The motor is asked to motion form bottom to top, the bottom is the null angle from the line of gravity.
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LI, ZU-SHEN, i 李祖聖. "Stabilization and model-following control of linear two-time-scale systems". Thesis, 1989. http://ndltd.ncl.edu.tw/handle/16217723716775044638.
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Leiner, Gabriel G. "Driver Dynamics and the Longitudinal Control Model". 2012. https://scholarworks.umass.edu/theses/792.
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Driver psychology is one of the most difficult phenomena to model in the realm of traffic flow theory because mathematics often cannot capture the human factors involved with driving a car. Over the past several decades, many models have attempted to model driver aggressiveness with varied results. The recently proposed Longitudinal Control Model (LCM) makes such an attempt, and this paper offers evidence of the LCM's usefulness in modeling road dynamics by analyzing deceleration rates that are commonly associated with various levels of aggression displayed by drivers. The paper is roughly divided into three sections, one outlining the LCM's ability to quantify forces between passive and aggressive drivers on a microscopic level, one describing the LCM's ability to measure aggressiveness of platoons of drivers, and the last explaining the meaning of the model’s derivative. The paper references some attempts to capture driver aggressiveness made by classic car-following models, and endeavors to offer some new ideas in study of driver characteristics and traffic flow theory.
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Chang, Geeng Kwei, i 張耿魁. "Integral Variable Structure Model Following Control of a Brushless DC Motor Driver". Thesis, 1995. http://ndltd.ncl.edu.tw/handle/32334835831087357612.
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碩士國立中山大學
電機工程研究所
83
In this paper, the design and implementation of a DSP-based brushless dc motor servo driver are presented. An integral variable structure model following control (IVSMFC) approach is proposed for the position/velocity loop of the brushless dc motor driver. The IVSMFC approach combines an integral variable structure control (IVSC) approach with a model following control system (MFCS). The concept of MFCS is to use a reference model, which specifies the design requirements , as a part of the control system. The IVSC approach is applied to the design of a MFCS. An experimental prototype system which consists of an ADSP21020 DSP microprocessor is contructed. The driver can be divided into two parts, the DSP control unit and power circuits. The DSP control unit deals with the control procedure and control algorithm. The peripheral interface circuits are composed of D/A converter, A/D converter and encoder/counter circuits. The power circuits consist of pulse width modulation, delay, gate driver and hall current sensor circuits. They can amplify the the power of the control signal to drive the motor. Simulation and experimental results show that the proposed scheme can achieve a fast and accurate servo tracking in the presence of load disturbances and plant parameter variations.
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Jong, Ching Feng, i 鍾慶豐. "Integral Variable Structure Model Following Control for Vector- Controlled AC Induction Motor Drivers". Thesis, 1995. http://ndltd.ncl.edu.tw/handle/97500412146862571567.
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碩士國立中山大學
電機工程研究所
83
In this paper, the design and implementation of a DSP-based ac induction motor servo driver are presented. The driver adopts an indirect vector control method to decouple nonlinear characteristics of the induction motor. An integral variable structure model following control (IVSMFC) approach is proposed for the position/velocity loop of the induction motor driver. The IVSMFC approach combines an integral variable structure control (IVSC) approach with a model following control system (MFCS). The concept of MFCS is to use a reference model, which specifies the design requirements, as a part of the control system. The IVSC approach is applied to the design of a MFCS. An experimental prototype system which consists of an ADSP21020 DSP microprocessor is contructed. The driver can be divided into two parts, the DSP control unit and power circuits. The DSP control unit deals with the control procedure and control algorithm. The peripheral interface circuits are composed of D/ A converter, A/D converter and encoder/counter circuits. The power circuits consist of pulse width modulation, delay, gate driver and hall current sensor circuits. They can amplify the the power of the control signal to drive the induction motor. Simulation and experimental results show that the proposed scheme can achieve a fast and accurate servo tracking in the presence of load disturbances and plant parameter variations.
50
Tsai, Ming-Chang, i 蔡明璋. "An Experimental Study on Model Following Adaptive Position Control of a Pneumatic Servocylinder". Thesis, 1993. http://ndltd.ncl.edu.tw/handle/21866576611161093348.
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