Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 5 of 5
Full-Text Articles in Engineering
Lyapunov-Based Control Design For Uncertain Mimo Systems, Zhao Wang
Lyapunov-Based Control Design For Uncertain Mimo Systems, Zhao Wang
Electronic Theses and Dissertations
In this dissertation. we document the progress in the control design for a class of MIMO nonlinear uncertain system from five papers. In the first part, we address the problem of adaptive control design for a class of multi-input multi-output (MIMO) nonlinear systems. A Lypaunov based singularity free control law, which compensates for parametric uncertainty in both the drift vector and the input gain matrix, is proposed under the mild assumption that the signs of the leading minors of the control input gain matrix are known. Lyapunov analysis shows global uniform ultimate boundedness (GUUB) result for the tracking error under …
Bi-Directional Dcm Dc-To-Dc Converter For Hybrid Electric Vehicles, Michael Pepper
Bi-Directional Dcm Dc-To-Dc Converter For Hybrid Electric Vehicles, Michael Pepper
Electronic Theses and Dissertations
With the recent revival of the hybrid vehicle much advancement in power management has been made. The most popular hybrid vehicle, the hybrid electric vehicle, has many topologies developed to realize this hybrid vehicle. From these topologies, as sub set was created to define a particular group of vehicles where the converter discussed in this thesis has the most advantage. This sub set is defined by two electric sources of power coupled together at a common bus. This set up presents many unique operating conditions which can be handled seamlessly by the DC-to-DC converter when designed properly. The DC-to-DC converter …
A Third-Order Differential Steering Robot And Trajectory Generation In The Presence Of Moving Obstacles, Vatana An
Electronic Theses and Dissertations
In this thesis, four robots will be used to implement a collision-free trajectory planning/replanning algorithm. The existence of a chained form transformation so that the robot's model can be control in canonical form will be analyzed and proved. A trajectory generation for obstacles avoidance will be derived, simulated, and implemented. A specific PC based control algorithm will be developed. Chapter two describes two wheels differential drive robot modeling and existence of controllable canonical chained form. Chapter 3 describes criterion for avoiding dynamic objects, a feasible collision-free trajectory parameterization, and solution to steering velocity. Chapter 4 describes robot implementation, pc wireless …
Coverage Path Planning And Control For Autonomous Mobile Robots, Mohanakrishnan Balakrishnan
Coverage Path Planning And Control For Autonomous Mobile Robots, Mohanakrishnan Balakrishnan
Electronic Theses and Dissertations
Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the sequences of points are determined a smooth trajectory characterized by fifth order polynomial having second order continuity is generated. And the slope of the curve at each point is calculated from …
Control And Topology Improvements In Half-Bridge Dc-Dc Converters, Songquan Deng
Control And Topology Improvements In Half-Bridge Dc-Dc Converters, Songquan Deng
Electronic Theses and Dissertations
Efficiency and transient response are two key requirements for DC-DC converters. Topology and control are two key topics in this dissertation. A variety of techniques for DC-DC converter performance improvement are presented in this work. Focusing on the efficiency issue, a variety of clamping techniques including both active and passive methods are presented after the ringing issues in DC-DC converters are investigated. By presenting the clamping techniques, a big variety of energy management concepts are introduced. The active bridge-capacitor tank clamping and FET-diode-capacitor tank clamping are close ideas, which transfer the leakage inductor energy to clamping capacitor to prevent oscillation …