Controls and Control Theory Commons^™

Filtered-Dynamic-Inversion Control For Unknown Minimum-Phase Systems With Unknown Relative Degree, Sumit Suryakant Kamat

Theses and Dissertations--Mechanical and Aerospace Engineering

We present filtered-dynamic-inversion (FDI) control for unknown linear time-invariant systems that are multi-input multi-output and minimum phase with unknown-but-bounded relative degree. This FDI controller requires limited model information, specifically, knowledge of an upper bound on the relative degree and knowledge of the first nonzero Markov parameter. The FDI controller is a single-parameter high-parameter-stabilizing controller that is robust to uncertainty in the relative degree. We characterize the stability of the closed-loop system. We present numerical examples, where the FDI controller is implemented in feedback with mathematical and physical systems. The numerical examples demonstrate that the FDI controller for unknown relative degree …

Identification Of Heat Release Shapes And Combustion Control Of An Ltc Engine, Radhika Sitaraman

Dissertations, Master's Theses and Master's Reports

Low Temperature Combustion (LTC) regimes have gained attention in internal combustion engines since they deliver low nitrogen oxides (NOx) and soot emissions with higher thermal efficiency and better combustion efficiency, compared to conventional combustion regimes. However, the operating region of these high-efficiency combustion regimes is limited as it is prone to knocking and high in-cylinder pressure rise rate outside the engine safe zone. By allowing multi-regime operation, high-efficiency region of the engine is extended. To control these complex engines, understanding and identification of heat release rate shapes is essential. Experimental data collected from a 2 liter 4 cylinder LTC engine …

Landing Throttleable Hybrid Rockets With Hierarchical Reinforcement Learning In A Simulated Environment, Francesco Alessandro Stefano Mikulis-Borsoi

Honors Theses and Capstones

In this paper, I develop a hierarchical Markov Decision Process (MDP) structure for completing the task of vertical rocket landing. I start by covering the background of this problem, and formally defining its constraints. In order to reduce mistakes while formulating different MDPs, I define and develop the criteria for a standardized MDP definition format. I then decompose the problem into several sub-problems of vertical landing, namely velocity control and vertical stability control. By exploiting MDP coupling and symmetrical properties, I am able to significantly reduce the size of the state space compared to a unified MDP formulation. This paper …

A Study Of Model-Based Control Strategy For A Gasoline Turbocharged Direct Injection Spark Ignited Engine, Xin Wang

Dissertations, Master's Theses and Master's Reports

To meet increasingly stringent fuel economy and emissions legislation, more advanced technologies have been added to spark-ignition (SI) engines, thus exponentially increase the complexity and calibration work of traditional map-based engine control. To achieve better engine performance without introducing significant calibration efforts and make the developed control system easily adapt to future engines upgrades and designs, this research proposes a model-based optimal control system for cycle-by-cycle Gasoline Turbocharged Direct Injection (GTDI) SI engine control, which aims to deliver the requested torque output and operate the engine to achieve the best achievable fuel economy and minimum emission under wide range of …

Real-Time Predictive Control Of Connected Vehicle Powertrains For Improved Energy Efficiency, Joseph Oncken

Dissertations, Master's Theses and Master's Reports

The continued push for the reduction of energy consumption across the automotive vehicle fleet has led to widespread adoption of hybrid and plug-in hybrid electric vehicles (PHEV) by auto manufacturers. In addition, connected and automated vehicle (CAV) technologies have seen rapid development in recent years and bring with them the potential to significantly impact vehicle energy consumption. This dissertation studies predictive control methods for PHEV powertrains that are enabled by CAV technologies with the goal of reducing vehicle energy consumption.

First, a real-time predictive powertrain controller for PHEV energy management is developed. This controller utilizes predictions of future vehicle velocity …

Sensor Fusion And Non-Linear Mpc Controller Development Studies For Intelligent Autonomous Vehicular Systems, Ahammad Basha Dudekula

Dissertations, Master's Theses and Master's Reports

The demand for safety and fuel efficiency on ground vehicles and advancement in embedded systems created the opportunity to develop Autonomous controller. The present thesis work is three fold and it encompasses all elements that are required to prototype the autonomous intelligent system including simulation, state handling and real time implementation. The Autonomous vehicle operation is mainly dependent upon accurate state estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, …

A Comparative Analysis Of Reinforcement Learning Applied To Task-Space Reaching With A Robotic Manipulator With And Without Gravity Compensation, Jonathan Fugal

Theses and Dissertations--Electrical and Computer Engineering

Advances in computing power in recent years have facilitated developments in autonomous robotic systems. These robotic systems can be used in prosthetic limbs, wearhouse packaging and sorting, assembly line production, as well as many other applications. Designing these autonomous systems typically requires robotic system and world models (for classical control based strategies) or time consuming and computationally expensive training (for learning based strategies). Often these requirements are difficult to fulfill. There are ways to combine classical control and learning based strategies that can mitigate both requirements. One of these ways is to use a gravity compensated torque control with reinforcement …

The Picture Fuzzy Distance Measure In Controlling Network Power Consumption, Florentin Smarandache, Ngan Thi Roan, Salvador Coll Arnau, Marina Alonso Diaz, Juan Miguel Martinez Rubio, Pedro Lopez, Fran Andujar, Son Hoang Lee, Manh Van Vu

Branch Mathematics and Statistics Faculty and Staff Publications

In order to solve the complex decision making problems, there are many approaches and systems based on fuzzy theory were proposed.

Developing A Uas-Deployable Methane Sensor Using Low-Cost Modular Open-Source Components, Gavin Demali

Williams Honors College, Honors Research Projects

This project aimed to develop a methane sensor for deployment on an unmanned aerial system (UAS), or drone, platform. This design is centered around low cost, commercially available modular hardware components and open source software libraries. Once successfully developed, this system was deployed at the Bath Nature Preserve in Bath Township, Summit County Ohio in order to detect any potential on site fugitive methane emissions in the vicinity of the oil and gas infrastructure present. The deliverables of this project (i.e. the data collected at BNP) will be given to the land managers there to better inform future management and …

E-Z Door: Hands-Free Front Door Unlocking And Opening Mechanism, Caleb Dyck

Williams Honors College, Honors Research Projects

The E-Z Door Senior Design project is a project with the aim of designing a hands-free system to unlock and open the front door of a home using two-factor security authentication.

The main goal of this project is to help people who may have physical limitations to be able to take advantage of recent technology, making it significantly easier to enter their homes.

Digital, Automated Reactive Target System, Nicholas Haas, Saipranay Vellala, Trandon Ware, Thomas Martin

Williams Honors College, Honors Research Projects

In this era, technology is woven into almost every facet of our leisure activities. Although technology has innovated hobbies ranging from chess to soccer, the art of shooting has been neglected. Unnecessary insufficiency such as bullet ricochets off of mechanical steel targets, ineffective progress tracking, and general inaccessibility to outdoor training facilities are all improvable areas of this sport. The Dynamic Automated Reactive Target (D.A.R.T) System aims to fill some of these gaps and help modernize recreational marksmanship. Modeling the system after a dueling tree will optimize the use of the system and allow for different training models to challenge …

Tabletop Mechanical Tester, Jamie Dombroski, Brian English, Richard Leffler, Andrew Shirk

Williams Honors College, Honors Research Projects

The need for hands-on and face-to-face experiences in the engineering classroom is very great. The equations, principles, and concepts can all be learned, but without the visual and tactile application, these don’t always sink in or become concrete. A small-scale tensile test machine was designed, sourced, manufactured, and tested for the purpose of being applied in classroom settings to provide this experience to engineering students. Extensive research was performed concerning tensile machines on the market, the essential elements of which are the load cell, grips, crosshead, extensometer, motor, and frame. The raw materials for the frame were purchased and drawings …

Design, Construction, Energy Modeling, And Navigation Of A Six-Wheeled Differential Drive Robot To Deliver Medical Supplies Inside Hospitals, Makhluk Hossain Prio

College of Graduate Studies: Theses & Dissertations

Differential drive mobile robots have been the most ubiquitous kind of robots for the last few decades. As each of the wheels of a differential drive mobile robot can be controlled, it provides additional flexibility to the end-users in creating new applications. These applications include personal assistance, security, warehouse and distribution applications, ocean and space exploration, etc. In a clinic or hospital, the delivery of medicines and patients’ records are frequently needed activities. Medical personnel often find these activities repetitive and time-consuming. Our research was to design, construct, produce an energy model, and develop a navigation control method for a …

Implementation Of Radial Basis Function Artificial Neural Network Into An Adaptive Equivalent Consumption Minimization Strategy For Optimized Control Of A Hybrid Electric Vehicle, Thomas P. Harris

Graduate Theses, Dissertations, and Problem Reports (ETD)

Continued increases in the emission of greenhouse gases by passenger vehicles has accelerated the production of hybrid electric vehicles. With this increase in production, there has been a parallel demand for continuously improving strategies of hybrid electric vehicle control. The goal of an ideal control strategy is to maximize fuel economy while minimizing emissions. The design and implementation of an optimized control strategy is a complex challenge. Methods exist by which the globally optimal control strategy may be found. However, these methods are not applicable in real-world driving applications since these methods require a priori knowledge of the upcoming drive …