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Full-Text Articles in Mechanical Engineering
The Influence Of Gaps On The Frequency Response Of A Beamspring Contact System, Wenbin Zhang
The Influence Of Gaps On The Frequency Response Of A Beamspring Contact System, Wenbin Zhang
Open Access Theses
Some mechanical systems with gaps such as in disc brakes and Cardan joints exhibit nonlinearity under certain load conditions, which is unpredictable and highly sensitive to initial conditions. Previous studies were mainly focused on either a single-degree-of-freedom (DOF) system or a flexible beam with uniform elastic foundation. The analysis of this thesis is a combination of these two where gaps are first introduced to a flexible beam model. A model of a beam resting on compliant foundation with gaps has been developed and analyzed. The assumed modes method is used to derive the equations of motion (EOM's) for the system. …
Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black
Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black
Open Access Theses
We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design …