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Full-Text Articles in Controls and Control Theory
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Electronic Theses and Dissertations
The use of mobile manipulators in service industries as both agents in physical Human Robot Interaction (pHRI) and for social interactions has been on the increase in recent times due to necessities like compensating for workforce shortages and enabling safer and more efficient operations amongst other reasons. Collaborative robots, or co-bots, are robots that are developed for use with human interaction through direct contact or close proximity in a shared space with the human users. The work presented in this dissertation focuses on the design, implementation and analysis of components for the next-generation collaborative human machine interfaces (CHMI) needed for …
Active Blade Pitch And Hull-Based Structural Control Of Floating Offshore Wind Turbines, Eben Lenfest
Active Blade Pitch And Hull-Based Structural Control Of Floating Offshore Wind Turbines, Eben Lenfest
Electronic Theses and Dissertations
Floating offshore wind turbines (FOWTs) have the potential to bring renewable energy to waters too deep for traditional offshore wind turbines while still being able to harness strong coastal winds in areas near population centers. However, these floating wind turbines come at a higher capital cost relative to fixed foundations and are more susceptible to vibrations induced by waves. Advances in control technologies offer the potential to reduce fatigue loads due to these vibrations, extending the life of the platform and thereby spreading the capital costs of the turbine over a longer period of time. One such advance is in …
Adaptive Control And Parameter-Dependent Anti-Windup Compensation For Inertia Varying Quadcopters., Benjamin Edwards Farber
Adaptive Control And Parameter-Dependent Anti-Windup Compensation For Inertia Varying Quadcopters., Benjamin Edwards Farber
Electronic Theses and Dissertations
A novel parameter-dependent anti-windup compensator is developed to improve the performance of a saturation constrained model reference adaptive controller. The combined control structure solves the input saturation and stability problem for inertia varying quadcopters. The control synthesis follows the conventional two-step anti-windup design paradigm where a nominal controller is designed without consideration of the input saturation, and the anti-windup compensator is designed to minimize deviations from nominal performance caused by saturated inputs. To account for varying inertia of the quadcopter during package retrieval/delivery routines, the inertia parameters of the vehicle/package are estimated with an online recursive system identification technique, and …