Controls and Control Theory Commons^™

Stability Analysis Of Systems With Time Delay Simulation Program, Matthew Carroll, Brandon Replogle

Electrical Engineering

A small company wants to develop a CAD tool, ideally as part of the MATLAB suite of tools, for system stability analysis of nonlinear control systems with time-delay. The program must allow the designer to input the system block diagram graphically, then using symbolic expansion, automatically generate the Laplace domain stability boundary and disturbance settling time. The stable regions are then to be graphically plotted as a set of 2- or 3-dimensional parametric stability boundaries. The designer can then input performance constraints on the system through the MATLAB console and a Simulink environment will automatically be generated.

This program is …

Two-On-One Pursuit With A Non-Zero Capture Radius, Patrick J. Wasz

Theses and Dissertations

In this paper, we revisit the "Two Cutters and Fugitive Ship" differential game that was addressed by Isaacs, but move away from point capture. We consider a two-on-one pursuit-evasion differential game with simple motion and pursuers endowed with circular capture sets of radius l > 0. The regions in the state space where only one pursuer effects the capture and the region in the state space where both pursuers cooperatively and isochronously capture the evader are characterized, thus solving the Game of Kind. Concerning the Game of Degree, the algorithm for the synthesis of the optimal state feedback strategies of the …

Defender-Assisted Evasion And Pursuit Maneuvers, Roger S. Anderson

Theses and Dissertations

Motivated by the possibilities afforded by active target defense, a 3-agent pursuit-evasion differential game involving an Attacker/Pursuer, a Target/Evader, and a Defender is considered. The Defender strives to assist the Target by intercepting the Attacker before the latter reaches the Target. A barrier surface in a reduced state space separates the winning regions of the Attacker and Target-Defender team. In this thesis, attention focuses primarily on the Attacker's region of win where, under optimal Attacker play, the Defender cannot preclude the Attacker from capturing the Target. Both optimal and suboptimal strategies are investigated. This thesis uses several methods to breakdown …

Ros-Enabled Framework For A Miniature Hexapod As A Mobile Robot Research Platform, Joseph Michael Kloeppel

Electrical and Computer Engineering ETDs

The purpose of this thesis is to investigate and develop a framework for connected six-legged robots which can be used as a Robotic Operating System (ROS) based research platform. The research presented aims to purvey the necessary engineering and scientific steps needed to evolve a consumer-grade connected toy into a fully functioning and highly capable robotic system. Such a platform can be used to simulate and implement novel biologically inspired swarm research. Crawling robots have the advantage of being able to scale terrains which wheeled mobile robots may not and possess many interesting characteristics. The miniROaCH, miniature ROS-enabled and Crawling …

Acceleration Amplitude Control System For Oscillating Silicon Oil Physics Experiment, Eric Chen

Electrical Engineering

This project is an ‘acceleration amplitude control system’ for use in an ‘oscillating silicon oil physics experiment’. The physics experiment has a tray of silicon oil. This tray must oscillate vertically at a specific amplitude (either at or just below the level for Faraday Waves). This control systems manages taking measurements of acceleration amplitude, and also manages correcting the shaker’s driving signal to obtain the correct acceleration. Features of the control system are designed for ease of use, because the system will mostly be operated by professor/ students without background knowledge in electrical engineering.

Performance-Robust Dynamic Feedback Control Of Lipschitz Nonlinear Systems, Winston Baker

Dissertations (1934 -)

This dissertation addresses the dynamic control of nonlinear systems with finite energy noise in the state and measurement equations. Regional eigenvalue assignment (REA) is used to ensure that the state estimate error is driven to zero significantly faster than the state itself. Moreover, the controller is designed for the resulting closed loop system to achieve any one of a set of general performance criteria (GPC). The nonlinear model is assumed to have a Lipschitz nonlinearity both in the state and measurement equations. By using the norm bound of the nonlinearity, the controller is designed to be robust against all nonlinearities …

Telepresence: Design, Implementation And Study Of An Hmd-Controlled Avatar With A Mechatronic Approach, Darren Michael Chan

Master's Theses

Telepresence describes technologies that allow users to remotely experience the sensation of being present at an event without being physically present. An avatar exists to represent the user whilst in a remote location and is tasked to collect stimuli from its immediate surroundings to be delivered to the user for consumption. With the advent of recent developments in Virtual Reality technology, viz., head-mounted displays (HMDs), new possibilities have been enabled in the field of Telepresence. The main focus of this thesis is to develop a solution for visual Telepresence, where an HMD is used to control the direction of a …