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Full-Text Articles in Controls and Control Theory
An Application Of Sliding Mode Control To Model-Based Reinforcement Learning, Aaron Thomas Parisi
An Application Of Sliding Mode Control To Model-Based Reinforcement Learning, Aaron Thomas Parisi
Master's Theses
The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based reinforcement learning approaches seek to leverage known optimal or robust control to reinforcement learning tasks by mod- elling the system dynamics and applying well established control algorithms to the system model. Sliding-mode controllers are robust to system disturbance and modelling errors, and have been widely used for high-order nonlinear system control. This thesis studies the application of sliding mode control …
Underwater Remotely Operated Vehicle Controller With Pid Stability Regulation, Christian E. Aguirre
Underwater Remotely Operated Vehicle Controller With Pid Stability Regulation, Christian E. Aguirre
Electrical Engineering
The earth’s oceans and rivers remain widely unexplored. Hobbyists and companies across the globe invest money and resources into remotely operated vehicles (ROV) to further expand underwater knowledge. Each ROV includes a controller that operates motors and monitors other crucial system vitals. The ROV Controller project makes the process of designing an ROV simpler and more affordable by providing a multi-purpose programmable controller.
The ROV controller features programmable digital inputs/outputs and analog inputs. The controller processes control signals from analog joysticks, digital signals from a gyroscope and utilizes a MUX to expand the analog input capabilities of the Arduino. The …
Automatic Water Pump Controller, Alam D. Salguero, Kyle Russell Marquez Weeks
Automatic Water Pump Controller, Alam D. Salguero, Kyle Russell Marquez Weeks
Electrical Engineering
In countries including Indonesia, Mexico, Guatemala, and El Salvador, a city water authority supplies the clean water and pumps it into large ground-level storage tanks. A resident’s water pump then pumps the water to a water tank on top of his/her house. When the water level in the ground-level storage tank becomes too low, the pump siphons air and shuts down, requiring a resident to manually prime the water pump to get it running again. Residents struggle to monitor the water level of the tanks effectively and keep the pump running properly. To remedy the issue, the Automatic Water Pump …
Independent Moisture-Sensitive Automatic Watering System, Jessica Sherbon
Independent Moisture-Sensitive Automatic Watering System, Jessica Sherbon
Electrical Engineering
With the availability of home improvement supplies, plant owners can quickly and easily set up an automatic system that waters their gardens based on a specified schedule. However, most of these systems require an electric outlet or water faucet making them unusable in locations where installed water and power lines do not exist, such as apartment balconies. This project defines a small-scale automated watering system that runs independently of installed water and power lines. The system takes water from a reservoir, such as a tank or bucket, and supplies that water to individual plants via a drip system. The design …
Polar Field Oriented Control With 3rd Harmonic Injection, Martin Todd Hess
Polar Field Oriented Control With 3rd Harmonic Injection, Martin Todd Hess
Master's Theses
Abstract
POLAR FIELD-ORIENTED CONTROL
with
3RD HARMONIC INJECTION
Martin Todd Hess
Field Oriented Control (FOC), also known as vector control, is a widely used and well documented method for controlling Permanent-Magnet Synchronous Motors (PMSM) and induction motors. Almost invariably the orientation of the stator and rotor (field) fluxes are described in rectangular coordinates. In this thesis we explore the practicality of using polar coordinates.
Third harmonic injection is also a well-known technique that allows full utilization of the bus (DC-link), thus allowing the motor to run to full base speed without the use of field weakening. This technique potentially …