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A Strategy For Minimizing Parkinsonian Noise From A Joystick Controlled Wheeled Mobile Robot, Fabian Just

Open Access Theses

This thesis investigates movement of an electric wheelchair as a wheeled mobile robot (WMR) with a battery rechargeable through regenerative braking.The WMR has two wheels, each of which can propel or brake. This leads to four modes of operation: propel-propel, brake-brake, propel-brake, and brake-propel. Braking can be either done by a propelling wheel using negative torques or by regenerative braking which also applies a negative torque.

The thesis begins with a presentation of the WMR model. Performances Indices (PI) are introduced as metrics for specific driving scenarios. For almost all scenarios, the PI is used in a model predictive control …

Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black

Open Access Theses

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design …