Mechanical Engineering Commons^™

Modeling And Control Of A Planar Bounding Quadrupedal Robot, Patrick John Ward

Master's Theses

Legged robots have the potential to be a valuable technology that provides agile and adaptive locomotion over complex terrain. To realize legged locomotion's full abilities a control design must consider the nonlinear piecewise dynamics of the systems. This paper aims to develop a controller for the planar bounding of a quadrupedal robot.

The bounding of the quadruped robot is characterized by a simplified hybrid model that consists of two subsystems for stance and flight phases and the switching laws between the two states. An additional model, the Multibody model, with fewer simplifications, is used concurrently to best approximate real-world behavior. …

Telescope Parallel Actuator Mount: Control And Testing, Samuel S. Artho-Bentz

Master's Theses

This thesis approaches the task of designing a control system for the Parallel Actuator Mount developed by Dr. John Ridgely and Mr. Garrett Gudgel. It aims to create a base framework that directly controls the telescope and can be expanded to accept external command. It incorporates lower priced components and develops more easily approachable software with great functionality. An open-loop method for velocity control is established. Developing repeatable tests is a major focus. Testing finds the control methods developed result in velocity error of less than 5% and position error of less than 1.5% despite several mechanical issues and inaccuracies. …

Comparison Of Lqr And Lqr-Mrac For Linear Tractor-Trailer Model, Kevin Richard Gasik

Master's Theses

The United States trucking industry is immense. Employing over three million drivers and traveling to every city in the country. Semi-Trucks travel millions of miles each week and encompass roads that civilians travel on. These vehicles should be safe and allow efficient travel for all. Autonomous vehicles have been discussed in controls for many decades. Now fleets of autonomous vehicles are beginning their integration into society. The ability to create an autonomous system requires domain and system specific knowledge. Approaches to implement a fully autonomous vehicle have been developed using different techniques in control systems such as Kalman Filters, Neural …

Control Of A Spacecraft Using Mixed Momentum Exchange Devices, Blake J. Currie

Master's Theses

Hardware configurations, a control law, and a steering law are developed for a mixed hardware spacecraft that uses both control moment gyros and reaction wheels. Replacing one or more gyros in a spacecraft with a reaction wheel has potential for cost savings while still achieving much greater performance than using reaction wheels alone. Several simulated tests are run to compare the performance to a traditional all reaction wheel or all control moment gyro spacecraft, including analysis of failure modes and singular configurations. The mixed system performed similarly to all gyro systems, responding within 6% of the gyro system’s time for …

Applied Control Strategies At A Cogeneration Plant, Joseph William Burns

Master's Theses

The purpose of this paper is to demonstrate the effectiveness of “classical strategies for dynamic control” on authentic cogeneration processes. These strategies are applied to several processes at the University of Connecticut’s cogeneration plant. Case studies of their applications are presented in this paper. Strategies that are applied include the following:

1) The classical SISO feedback structure

2) The First Order Plus Dead Time (FOPDT) process model

3) The Internal Model Control (IMC) correlations for PI controller tuning

4) Static feed forward with feedback trim

5) Cascade Control