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Full-Text Articles in Mechanical Engineering
Design Of A Linear Time-Varying Cross-Coupled Iterative Learning Controller, K. L. Barton, Douglas A. Bristow, Andrew G. Alleyne
Design Of A Linear Time-Varying Cross-Coupled Iterative Learning Controller, K. L. Barton, Douglas A. Bristow, Andrew G. Alleyne
Mechanical and Aerospace Engineering Faculty Research & Creative Works
In many manufacturing applications contour tracking is more important than individual axis tracking. Many control techniques, including iterative learning control (ILC), target individual axis error. Because individual axis error only indirectly relates to contour error, these approaches may not be very effective for contouring applications. Cross-coupled ILC (CCILC) is a variation on traditional ILC that targets the contour tracking directly. In contour trajectories with rapid changes, high frequency control is necessary in order to meet tracking requirements. This paper presents an improved CCILC that uses a linear time-varying (LTV) filter to provide high frequency control for short durations. The improved …
Neural Network Approach For Obstacle Avoidance In 3-D Environments For Uavs, Vivek Yadav, Xiaohua Wang, S. N. Balakrishnan
Neural Network Approach For Obstacle Avoidance In 3-D Environments For Uavs, Vivek Yadav, Xiaohua Wang, S. N. Balakrishnan
Mechanical and Aerospace Engineering Faculty Research & Creative Works
In this paper a controller design is proposed to get obstacle free trajectories in a three dimensional urban environment for unmanned air vehicles (UAVs). The controller has a two-layer architecture. In the upper layer, vision-inspired Grossberg neural network is proposed to get the shortest distance paths. In the bottom layer, a model predictive control (MPC) based controller is used to obtain dynamically feasible trajectories. Simulation results are presented for to demonstrate the potential of the approach.