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Navigation, Guidance, Control and Dynamics Commons™
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Articles 61 - 75 of 75
Full-Text Articles in Navigation, Guidance, Control and Dynamics
Adaptive Control For Autonomous Navigation Of Mobile Robots Considering Time Delay And Uncertainty, Stephen Kofi Armah
Adaptive Control For Autonomous Navigation Of Mobile Robots Considering Time Delay And Uncertainty, Stephen Kofi Armah
Dissertations
Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always …
Design Of The Structural And Propulsion Systems For The 2015 University Of Akron Rocket Team, Kyle W. Dehoff, Nicholas J. Hrusch
Design Of The Structural And Propulsion Systems For The 2015 University Of Akron Rocket Team, Kyle W. Dehoff, Nicholas J. Hrusch
Williams Honors College, Honors Research Projects
No abstract provided.
Control Of A Spacecraft Using Mixed Momentum Exchange Devices, Blake J. Currie
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 …
Feedback Speed Control Of A Small Two-Stroke Internal Combustion Engine That Propels An Unmanned Aerial Vehicle, Paul D. Fjare
Feedback Speed Control Of A Small Two-Stroke Internal Combustion Engine That Propels An Unmanned Aerial Vehicle, Paul D. Fjare
UNLV Theses, Dissertations, Professional Papers, and Capstones
Unmanned aerial vehicles (UAV) require intelligent control of their power source. Small UAV are typically powered by electric motors or small two-stroke internal combustion (IC) engines. Small IC engines allow for longer flight times but are more difficult to control and cause significant ground noise. A hybrid operation that uses the engine at high altitudes and the electric motors at low altitudes is desired. This would allow for extended flight with acceptable ground noise levels. Since the engine can not be restarted in the air it must be able to remain at idle for an extended time without stalling. A …
System Identification Of An Autonomous Surface Vehicle, Christopher John Cook
System Identification Of An Autonomous Surface Vehicle, Christopher John Cook
Mechanical & Aerospace Engineering Theses & Dissertations
The modeling and system identification of a small pontoon based marine craft, without rudder control, in a controlled environment. Old Dominion University's autonomous surface vehicle was modeled using the Observer/Kalman System Identification method. The experimental position data was collected using a laser positioning system along with Arduino based sensors on board the boat to collect the motor speeds of the dual outboard motors. The data was then compiled using the System/ Observer/Controller Identification Toolbox to derive a dynamic model that is capable of providing path estimation and prediction information to the autonomous robotic system.
High-Efficiency Thrust Vector Control Allocation, Jeb S. Orr, Nathan Slegers
High-Efficiency Thrust Vector Control Allocation, Jeb S. Orr, Nathan Slegers
Faculty Publications - Biomedical, Mechanical, and Civil Engineering
A generalized approach to the allocation of redundant thrust vector slew commands for multi-actuated launch vehicles is presented, where deflection constraints are expressed as omniaxial or elliptical deflection limits in gimbal axes. More importantly than in the aircraft control allocation problem, linear allocators (pseudoinverses) are preferred for large booster applications to facilitate accurate prediction of the control-structure interaction resulting from thrust vectoring effects. However, strictly linear transformations for the allocation of redundant controls cannot, in general, access all of the attainable moments for which there is a set of control effector positions thatsatisfles the constraints. In this paper, the control …
Filtered-Dynamic-Inversion Control For Fixed-Wing Unmanned Aerial Systems, Jon Mullen
Filtered-Dynamic-Inversion Control For Fixed-Wing Unmanned Aerial Systems, Jon Mullen
Theses and Dissertations--Mechanical and Aerospace Engineering
Instrumented umanned aerial vehicles represent a new way of measuring turbulence in the atmospheric boundary layer. However, autonomous measurements require control methods with disturbance-rejection and altitude command-following capabilities. Filtered dynamic inversion is a control method with desirable disturbance-rejection and command-following properties, and this controller requires limited model information. We implement filtered dynamic inversion as the pitch controller in an altitude-hold autopilot. We design and numerically simulate the continuous-time and discrete-time filtered-dynamic-inversion controllers with anti-windup on a nonlinear aircraft model. Finally, we present results from a flight experiment comparing the filtered-dynamic-inversion controller to a classical proportional-integral controller. The experimental results show …
The Stability And Control Of The Single Track Vehicles, Shyngys Karimov, Martin Corless
The Stability And Control Of The Single Track Vehicles, Shyngys Karimov, Martin Corless
The Summer Undergraduate Research Fellowship (SURF) Symposium
Bicycles, motorcycles and scooters are all examples of the single track vehicles. The dynamics of the single track vehicle involve many degrees of freedom and various modes which govern its performance, making a complicated and interesting research topic. Motorcycle in motion can roll, yaw, and steer about the steering axis. It has three main modes which determine the motion and stability of it, they are weave, capsize, and wobble. The motorcycle performance is limited by the behavior of its modes, and if even one of the modes becomes unstable, the vehicle will roll over, and crash. The goal of this …
Development Of A Pyrotechnic Shock Simulation Apparatus For Spacecraft Applications, Joseph Binder, Matthew Mccarty, Chris Rasmussen
Development Of A Pyrotechnic Shock Simulation Apparatus For Spacecraft Applications, Joseph Binder, Matthew Mccarty, Chris Rasmussen
Aerospace Engineering
This report details the research, design, construction, and testing of a pyrotechnic shock simulation apparatus for spacecraft applications. The apparatus was developed to be used in the Space Environments Lab at California Polytechnic State University. It will be used for testing spacecraft components with dimensions up to 24”x12”x12” as well as CubeSats. Additionally, it may be used as an instructional or demonstrational tool in the Aerospace Department’s space environments course. The apparatus functions by way of mechanical impact of an approximately 20 lb stainless steel swinging hammer. Tests were performed to verify the simulator’s functionality. Suggestions for improvement and further …
Airplane Landing Flare-The Last 5 Seconds, Nihad E. Daidzic
Airplane Landing Flare-The Last 5 Seconds, Nihad E. Daidzic
Aviation Department Publications
No abstract provided.
Some Considerations For Regional Airline Operations On Contaminated Runways., Nihad E. Daidzic
Some Considerations For Regional Airline Operations On Contaminated Runways., Nihad E. Daidzic
Aviation Department Publications
No abstract provided.
Adaptive Control Applied To The Cal Poly Spacecraft Attitude Dynamics Simulator, Matthew C. Downs
Adaptive Control Applied To The Cal Poly Spacecraft Attitude Dynamics Simulator, Matthew C. Downs
Master's Theses
The goal of this thesis is to use the Cal Poly Spacecraft Attitude Dynamics Simulator to provide proof of concept of two adaptive control theories developed by former Cal Poly students: Nonlinear Direct Model Reference Adaptive Control and Adaptive Output Feedback Control. The Spacecraft Attitude Dynamics Simulator is a student-built air bearing spacecraft simulator controlled by four reaction wheels in a pyramidal arrangement. Tests were performed to determine the effectiveness of the two adaptive control theories under nominal operating conditions, a “plug-and-play” spacecraft scenario, and under simulated actuator damage. Proof of concept of the adaptive control theories applied to attitude …
Design Of A "Figure-8" Spherical Motion Flapping Wing For Miniature Uav's, Zohaib Parvaiz Rehmat
Design Of A "Figure-8" Spherical Motion Flapping Wing For Miniature Uav's, Zohaib Parvaiz Rehmat
UNLV Theses, Dissertations, Professional Papers, and Capstones
Hummingbirds and some insects exhibit a Figure-8 motion, which allows them to undergo variety of maneuvers including hovering. It is therefore desirable to have flapping wing miniature air vehicles (FWMAV) that can replicate this unique wing motion. In this research, a design of a flapping wing for FWMAV that can mimic Figure-8 motion using a spherical four bar mechanism is presented. To produce Figure-8 motion, the wing is attached to the coupler point of the spherical four bar mechanism and driven by a DC servo motor. For verification of the design, a prototype of the wing and mechanism is fabricated …
Experimental Investigation Of Active Control Of Bluff Body Vortex Shedding, Ilteris Koc
Experimental Investigation Of Active Control Of Bluff Body Vortex Shedding, Ilteris Koc
Mechanical & Aerospace Engineering Theses & Dissertations
Mean and fluctuating forces acting on a body are strongly related to vortex shedding generated behind it. Therefore, it is possible to obtain substantial reductions of at least the unsteady forces if vortex shedding is controlled or its regularity is reduced. While conventional active flow control methods are mainly concerned with direct interaction with, and alteration of, the mean flow about a body, modern techniques involve altering existing flow instabilities using relatively small inputs to obtain large-scale changes of mean flows. Aerodynamic flow control may be intended to delay or suppress boundary layer separation through creation of a boundary layer …
Micron-Level Actuator For Thermal-Fluid Control In Microchannels, Nurhak Erbas
Micron-Level Actuator For Thermal-Fluid Control In Microchannels, Nurhak Erbas
Mechanical & Aerospace Engineering Theses & Dissertations
Effectiveness of an actuator is investigated for thermal-flow control in microchannels. First, simulations of a single actuator in a quiescent external medium are performed in order to study the parameters characterizing the synthetic jet flow from the actuator. For this purpose, a simplified, two-dimensional configuration is considered. The membrane motion is modeled in a realistic manner as a moving boundary in order to accurately compute the flow inside the actuator cavity. The geometric and actuation parameters of the actuator are investigated to define the effectiveness of the jet flow. The study is done initially at macro scales. Then, the flow …