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Full-Text Articles in Controls and Control Theory
The Effects Of Reference-Command Preview On The Strategies That Humans Use In Command-Following Tasks, Amelia J. S. Sheffler
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
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
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
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 …