Controls and Control Theory Commons^™

Study Of A Multi-Agent Containment Problem Under Communication Constraints And Defense From Malicious Agents, Braulio Mora

Mechanical and Aerospace Engineering Theses - Archive

This thesis investigates a multi-agent containment problem where a fast evader, moving at a constant speed and heading, attempts to escape a circular containment region. A team of slow pursuers possess a nonzero capture radius and seek to capture the evader before escape. The research addresses two primary scenarios: one involving the team of pursuers, with no communication network, being constrained to the edge of the containment region, and the second involving a team of pursuers, with a communication network, not being constrained to the edge of the containment region. Both scenarios study the influence of malicious agents in the …

Nonlinear Guidance And Control Of Unmanned Aerial Manipulators For Delivering A Payload On A Moving Platform, Ravi Gyawali

Mechanical and Aerospace Engineering Theses - Archive

Unmanned Aerial manipulators (UAMs) are a class of Unmanned Aerial Vehicles (UAVs) equipped with a manipulator. By combining the aerial mobility of a UAV with a manipulator's dexterity, these hybrid systems can perform a wide range of complex tasks while reducing risks and costs. As a result, they are increasingly being utilized for military, industrial, and agricultural applications.

The thesis presents a novel approach for a multi-UAM system to collaboratively deliver a payload on a stationary or maneuvering platform. A sliding-mode-based guidance law, sourced from existing literature, is integrated with a combined control technique for the UAVs and their respective …

Reinforcement Learning For Optimal Kicking Actions In Humanoid Robotics: Advancing Robotic Autonomy And Versatility, Suresh Dodda, Sathish Kumar Chintala, Sukender Reddy Mallreddy, Sharath Chandra Macha, Yashwanth Vasa, Sapan Bharadwaj Bonala, Navin Kamuni, Sujatha Alla

Engineering Management & Systems Engineering Faculty Publications

Acquiring the necessary skills to perform a work effectively and efficiently requires a significant investment of time and computing power. Previous applications of Reinforcement Learning (RL) for action optimization in humanoid robotics have shown how promising this technology is for moving robotics towards true autonomy and versatility. Therefore, this study offers the first use of RL to create an entirely optimal kicking action for the Alderbaran Nao robot. Kicking motions that were steady, precise, quick, and able to kick farther than any existing RoboCup squad were generated by optimizing for a multi-objective reward function. We demonstrate that the ideal kicking …

Re-Envisioning Electric Railway Power Systems In Dense Urban Regions, Rohama Ahmad

Dissertations and Theses

Grid decarbonization and modernization are key requisites to combat global warming. Decarbonization entails the deployment of renewable energy sources, improving the energy efficiency of major consumers, and the electrification of the transportation and building sectors. Various US states and cities have pledged to reduce greenhouse gas (GHG) emissions (e.g., the Climate Leadership and Community Protection Act (CLCPA) in New York aims to reduce emissions to 40% below 1990 levels by 2030 and then to 85% below 1990 levels by 2050) via a set of targets in terms of renewable energy, energy storage system (ESS) capacity, and the number of electric …

Neural Net Estimation Of Discriminants Posterior Probability Vector, Harshvardhan Harshvardhan

Electrical Engineering Theses - Archive

Interpreting multi-layer perceptron (MLP) classifier outputs as posterior probabilities is a well-established practice in machine learning and is supported in the literature. However, several authors point out that MLP outputs are very poor estimates of the posterior probabilities. This is demonstrated for classifiers with and without nonlinear output activation. Achieving this reliability depends on key factors such as model complexity, sufficient training data availability, and optimization techniques' effectiveness. In practice, these requirements are not met, resulting in suboptimal probability estimates. Our approach introduces an innovative method based on the softmax output. The method aim to refine MLP discriminants into more …

External Direct Sum Invariant Subspace And Decomposition Of Coupled Differential-Difference Equations, Keqin Gu, Huan Phan-Van

SIUE Faculty Research, Scholarship, and Creative Activity

This article discusses the invariant subspaces that are restricted to be external direct sums. Some existence conditions are presented that facilitate finding such invariant subspaces. This problem is related to the decomposition of coupled differential-difference equations, leading to the possibility of lowering the dimensions of coupled differential-difference equations. As has been well documented, lowering the dimension of coupled differential-difference equations can drastically reduce the computational time needed in stability analysis when a complete quadratic Lyapunov-Krasovskii functional is used. Most known ad hoc methods of reducing the order are special cases of this formulation.

Structured Invariant Subspace And Decomposition Of Systems With Time Delays And Uncertainties, Huan Phan-Van, Keqin Gu

SIUE Faculty Research, Scholarship, and Creative Activity

This article discusses invariant subspaces of a matrix with a given partition structure. The existence of a nontrivial structured invariant subspace is equivalent to the possibility of decomposing the associated system with multiple feedback blocks such that the feedback operators are subject to a given constraint. The formulation is especially useful in the stability analysis of time-delay systems using the Lyapunov-Krasovskii functional approach where computational efficiency is essential in order to achieve accuracy for large scale systems. The set of all structured invariant subspaces are obtained (thus all possible decompositions are obtained as a result) for the coupled differential-difference equations …

Provably Safe Control For Input-Constrained Robotic Systems, Pedram Rabiee

Theses and Dissertations--Mechanical and Aerospace Engineering

This dissertation addresses challenges in control design for safety-critical robotic systems with input constraints. It focuses on developing novel control barrier function (CBF) approaches to ensure safety while optimizing performance. The work is motivated by the limitations of traditional methods in handling nonlinear systems with multiple constraints and actuator limits.

Three main contributions are presented. First, a soft-minimum barrier function is introduced, utilizing finite-time horizon predictions to create control forward invariant subsets of the safe set while respecting actuator constraints. This method is extended to multiple backup controls, which can enlarge the safe operating region.

Second, a technique for composing …

On Uncertainty For Ill-Posed Robot Decision Problems, Jared Joseph Beard

Graduate Theses, Dissertations, and Problem Reports (ETD)

As robots adopt more real world responsibilities, they will be expected to solve more complicated problems. In some cases limited prior knowledge will result in unmodelled environmental conditions; in others, multiple users may have competing perspectives on how to frame a decision problem. Many existing frameworks, namely Markov decision processes (MDP) presuppose users have identified a specific problem with models sufficient to solve or learn a problem. If we wish to extend MDPs to novel problems or those heavily dependent on user feedback, autonomous decision makers must be able to identify limitations in how a given problem is framed and …

V2i-Based Adaptive Collision Avoidance For Safety And Traffic Efficiency, Vaishnavi Balambeed

Dissertations, Master's Theses and Master's Reports

To leverage the growing communication and connectivity among modern vehicles, Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) systems are increasingly being used to implement active safety applications. However, current research often overlooks the impact of algorithms such as collision avoidance on traffic flow efficiency. This work investigates the adaptation of a collision avoidance algorithm implemented in V2I to incorporate a variable time headway and spacing control strategy. The proposed approach aims to maintain higher average speeds among vehicles, lower individual vehicle’s waiting, and travel times in the vicinity of the infrastructural unit while simultaneously avoiding collisions; thereby enhancing both safety and traffic …

Pulse-Width Modulation Spray System Performance And Development Of A Novel System To Optimize Spray Use Efficacy, Prashanta Pokharel

Theses and Dissertations--Biosystems and Agricultural Engineering

The overarching objective of this research was to enhance our understanding of pulse width modulation (PWM) based nozzle control system and develop an intelligent nozzle control system for agricultural spray applications. This dissertation focused on measuring and analyzing the transient nozzle pressure characteristics and performance under PWM control. Additionally, it explored the development of an innovative multi-degree-of-freedom (DOF) nozzle control system for precise chemical applications in specialty crop systems.

The pressure dynamics of a PWM system were studied by developing an instrumentation system capable of operating a solenoid valve and recording pressure signals. A nozzle body and two manifolds of …

Dynamic Modeling And Control Of A Solid State Semiconductor-Based Transformer, Microgrid And Storage Systems, Rubén Darío Viñán-Velasco

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

Smart Grids are power grid models designed with the idea of including the growing new technologies, from generation to storage devices, and are a response to the growing demands from consumers and the presence of electronic components being commonplace in the modern devices. The design requires a dynamic alternative in order to build an independent grid that can also work in cooperation with other micro-grids and the power grid in an integrated way. Smart-grids present several advantages over the traditional power grid scheme, but the economic costs of the components required to implement smart-grids is currently a great limitation. This …

External Runtime Execution Monitoring Of A Cyber Physical System Via Trace Interfaces, Peter Vaughan Truslow

Theses and Dissertations

In the past two decades, Unmanned Aerial Systems have progressed from expensive military hardware or one-off custom builds, to include off-the-shelf drones that can be purchased for a rather affordable price and flown by nearly anyone. As the technology and performance have improved, the door is opened to applications that require operation in environments where the consequences for failure are high, such as operating in the navigable airspace or in urban environments, or with human passengers. This requires a great deal of trust in the reliability and integrity of the control systems of the aircraft. A method of monitoring the …

Implementing Associative Learning Using Neuromorphic Robot, Vinay Kumar Pillalamarri

Dissertations, Master's Theses and Master's Reports

Associative learning, a key cognitive process seen across the animal kingdom, enables organisms to form connections between stimuli and adapt their behaviors based on past experiences. A particularly powerful example is fear conditioning, where animals learn to associate a neutral stimulus with an aversive one, allowing them to predict and avoid potential threats. Inspired by this mechanism, this project implements associative learning on an unmanned ground vehicle (UGV) to develop adaptive behavior through neuromorphic principles. Utilizing Nengo for neural modeling, the UGV learns to associate visual (red color) and tactile (vibration) stimuli through Hebbian learning, a biologically inspired synaptic adaptation …

Autonomous Basketball Court Creation Robot, Bryce Haldeman, Tyler Gray, Dalon Vura

Williams Honors College, Honors Research Projects

The Autonomous Basketball Court Outlining System presents a comprehensive solution for precision court marking. Powered by a 24V lithium-ion battery and driven by a single ST microcontroller, the system autonomously marks the outline of a half basketball court using predefined algorithms. User-friendly features include easy loading of marking material, actuated by gravity or a small servo motor depending on material of choice, ensuring intuitive operation. Safety is prioritized, with the servo motor eliminating high-pressure concerns, and the system maintains a controlled speed accounting for user well-being. Two step and direction servo motors enable accurate linear displacement, facilitating straight lines, and …

Data Driven And Machine Learning Based Modeling And Predictive Control Of Combustion At Reactivity Controlled Compression Ignition Engines, Behrouz Khoshbakht Irdmousa

Dissertations, Master's Theses and Master's Reports

Reactivity Controlled Compression Ignition (RCCI) engines operates has capacity to provide higher thermal efficiency, lower particular matter (PM), and lower oxides of nitrogen (NOx) emissions compared to conventional diesel combustion (CDC) operation. Achieving these benefits is difficult since real-time optimal control of RCCI engines is challenging during transient operation. To overcome these challenges, data-driven machine learning based control-oriented models are developed in this study. These models are developed based on Linear Parameter-Varying (LPV) modeling approach and input-output based Kernelized Canonical Correlation Analysis (KCCA) approach. The developed dynamic models are used to predict combustion timing (CA50), indicated mean effective pressure (IMEP), …

Modeling Of Inverter-Based Resources For Hardware In The Loop Testing Of Protection And Control Schemes, Md Aamir Rahmani

Dissertations, Master's Theses and Master's Reports

High penetration of inverter-based resources (IBR) may cause the misoperation of protective relays due to the dynamic nature of fault currents fed by the IBR during short-circuit faults. Misoperation may cause damage to power system equipment and affect the reliability of the power system. This dissertation presents an in-depth investigation into the modeling of IBR in the context of transmission line fault scenarios to understand and analyze the characteristics of fault currents fed by the IBR. The research objectives encompass the development of reliable IBR models capable of accurately replicating fault current behaviors, designing IBR operation control schemes, and implementing …

Comparison Of Dc Motor Speed Calculation Efficiency Between Inductive Proximity Sensor And Rotary Encoder, Dino Dwi Aryanto, S. Sukir

Elinvo (Electronics, Informatics, and Vocational Education)

This study examines the level of effectiveness and efficiency of a sensor on the calculation of the rotational speed (RPM) of a DC motor, considering that the calculation of the rotational speed of an electric motor, both AC motors and DC motors, greatly influences the output of the system. the speed of motor rotation is very influential in several fields, such as power generation, which will affect the output voltage that will be generated. There are many methods for measuring the rotational speed of a motor, including using an inductive proximity sensor and a rotary encoder combined with a PLC …

Improvement Of Calorimetric Quality Analyzers For Substances, Makhfuza Azimovna Radjabova

Chemical Technology, Control and Management

It is noted that the development of intelligent means of measuring qualitative indices is of topical importance. Since the quality of many substances is determined by optical methods, an algorithm for spectrophotometric data processing has been developed, which consists of primary data processing (stage I) and determination of qualitative indices of liquid products (stage II). Since the task of numerical determination of colour characteristics of transmittance coefficients of liquid samples is incorrectly set, it is recommended to use regularization methods of A.N.Tikhonov to improve metrological characteristics of the device. On the basis of regularization methods for solving incorrect problems, algorithms …

Smart System For Wheat Diseases Early Detection, Rustam Baratov, Himola Sunnatillayeva, Almardon Mamatovich Mustafoqulov

Chemical Technology, Control and Management

This paper presents a smart system for early detection of wheat plant diseases in the vegetation period. The proposed smart system allows detecting three types of wheat diseases, particularly yellow rust, powdery mildew and septoria at early stage and significantly improves the soil and ecology by locally spraying harmful chemicals just to sickness plants. The proposed diagnostic program is created in the C++ programming language. The basic structure of the smart system consists of Raspberry PI 4 MODULE, Logitech HD Pro Webcam C920, buzzer, HC-SR04 distance sensor, DC motor driver, AC motor, power supply, relay and some digital devices.