Controls and Control Theory Commons^™

Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri

All Dissertations

The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature.

This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while …

Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng

All Dissertations

Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …

Model-Based Design Of An Optimal Lqg Regulator For A Piezoelectric Actuated Smart Structure Using A High-Precision Laser Interferometry Measurement System, Grant P. Gallagher

Master's Theses

Smart structure control systems commonly use piezoceramic sensors or accelerometers as vibration measurement devices. These measurement devices often produce noisy and/or low-precision signals, which makes it difficult to measure small-amplitude vibrations. Laser interferometry devices pose as an alternative high-precision position measurement method, capable of nanometer-scale resolution. The aim of this research is to utilize a model-based design approach to develop and implement a real-time Linear Quadratic Gaussian (LQG) regulator for a piezoelectric actuated smart structure using a high-precision laser interferometry measurement system to suppress the excitation of vibratory modes.

The analytical model of the smart structure is derived using the …

The Effects Of Reference-Command Preview On The Strategies That Humans Use In Command-Following Tasks, Amelia J. S. Sheffler

Theses and Dissertations--Mechanical Engineering

This thesis presents results from an experiment in which 22 human subjects each interact with a dynamic system 40 times over a one-week period. For each interaction, a subject performs a command-following task, where the reference command is the same for all 22 subjects but different on each trial. The subjects are divided into 2 groups of 11 subjects. One group performs the command-following task without reference-command preview. The other group is provided with 1-s preview of the reference command. The experimental results are used to examine the effects of reference-command preview. For the group with 1-s reference-command preview, the …

Experimental Comparison Of Two Sampled-Data Adaptive Control Algorithms For Rejecting Sinusoidal Disturbances, William Grayson Woods

Theses and Dissertations--Mechanical Engineering

We review two adaptive control algorithms that address the problem of rejecting sinusoids with known frequencies that act on an unknown asymptotically stable linear time-invariant system. We present modifications to the algorithms that address the problems of sensor noise and actuator saturation. We demonstrate the effectiveness of the algorithms and compare the performance of the algorithms via numerical simulation and experimental testing.

Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles, Zachary S. Lippay

Theses and Dissertations--Mechanical Engineering

This dissertation presents new results on multi-agent formation control and applies the new control algorithms to quadrotor unmanned air vehicles. First, this dissertation presents a formation control algorithm for double-integrator agents, where the formation is time varying and the agents’ controls satisfy a priori bounds (e.g., the controls accommodate actuator saturation). The main analytic results provide sufficient conditions such that all agents converge to the desired time-varying relative positions with one another and the leader, and have a priori bounded controls (if applicable). We also present results from rotorcraft experiments that demonstrate the algorithm with time-varying formations and bounded controls. …

Modeling Human Control Behavior In Command-Following Tasks, Sajad Koushkbaghi

Theses and Dissertations--Mechanical Engineering

Humans interact with a variety of complex dynamic systems on a daily basis. However, they are often the lesser understood component of human-in-the-loop (HITL) systems. In this dissertation, we present the results of two HITL experiments to investigate the control strategies that humans use when performing command-following tasks. The first experiment is designed to investigate the control strategies that humans use to interact with nonlinear dynamic systems. Two groups of human subjects interact with a dynamic system and perform a command-following task. One group interacts with a linear time-invariant (LTI) dynamic system and the other group interacts with a Wiener …