Engineering Commons^™

Unmanned Ground Vehicle Navigation And Coverage Hole Patching In Wireless Sensor Networks, Guyu Zhang

Doctoral Dissertations

This dissertation presents a study of an Unmanned Ground Vehicle (UGV) navigation and coverage hole patching in coordinate-free and localization-free Wireless Sensor Networks (WSNs). Navigation and coverage maintenance are related problems since coverage hole patching requires effective navigation in the sensor network environment. A coordinate-free and localization-free WSN that is deployed in an ad-hoc fashion and does not assume the availability of GPS information is considered. The system considered is decentralized and can be self-organized in an event-driven manner where no central controller or global map is required.

A single-UGV, single-destination navigation problem is addressed first. The UGV is equipped …

Application Of Sliding Mode Controller And Linear Active Disturbance Rejection Controller To A Pmsm Speed System, Yang Zhao

ETD Archive

Permanent magnet synchronous motor (PMSM) is a popular electric machine in industry for its small volume, high electromagnetic torque, high reliability and low cost. It is broadly used in automobiles and aircrafts. However, PMSM has its inherent problems of nonlinearity and coupling, which are challenges for control systems design. In addition, the external disturbances such as load variation and noises could degrade the systems performance. Both sliding mode control (SMC) and active disturbance rejection control (ADRC) are robust against disturbances. They can also compensate the nonlinearity and couplings of the PMSM. Therefore, in this thesis, we apply both SMC and …

Viscosity Regulation In Polymer Extrusion, Diane K. Haberbusch

ETD Archive

The interesting background and history of polymer extrusion are first introduced in this thesis. The complexity of the extrusion process is described, along with sources of disturbances. A literature review of the types of controllers that have been used for viscosity regulation in polymer extrusion is given, including the proportional-integral-derivative (PID) proportional-integral (PI) controllers. Polymer viscosity in extrusion is difficult to model accurately and its regulation is prone to disturbances. Active Disturbance Rejection Control (ADRC) is the right method for addressing the model inaccuracies and facilitates a straightforward solution to accommodate industrial needs with parameters that can be easily tuned …

On The Analysis And Design Of Disturbance Rejecter, Jason Tatsumi

ETD Archive

In this thesis, the impact of the disturbance rejecter concept and the enforced plant has been explored. In order for the active disturbance rejection controller (ADRC) to provide a reasonable alternative to the industry standard PID controller, it is necessary to develop tuning procedures capable of providing adequate performance with reasonable stability margins. A focus should be placed upon the disturbance rejecter, as it is the heart and soul of ADRC. In this thesis, transfer function analysis of the enforced plant has been performed to connect ADRC with the tools from classical control. The relationship between the gain parameter and …