Controls and Control Theory Commons^™

A Turtlebot3 Hardware Testbed For Distributed Kalman Filter Localization, Dmitri Dobrynin, Indigo T. Garcia

Electrical Engineering

This report presents the preliminary design for a distributed localization framework for a multi-robot system. Many robotics research papers provide simulations of proposed algorithms in regards to formation control and task allocation. However, it is often that these proposals are without hardware experiments, being limited only to simulation. The objective of this framework is to provide a hardware implementation of a distributed Kalman filtering algorithm for multi-agent localization, as well as provide grounds for future multi-agent experiments. The framework is implemented on a swarm of three Turtlebot3 mobile robots. The robots can accurately localize themselves with respect to other agents …

Design Of An Active-Control Pressure Regulator For A Rocket, Seth Arkwright

Williams Honors College, Honors Research Projects

An electronically actuated pressure-regulation valve and controller are necessary for maintaining pressure levels in a pressure-fed liquid-fueled rocket engine. Mechanical regulators are too heavy and have unacceptably high-pressure variation throughout the operation of a dynamic system like a rocket. Developing an electronic pressure regulator using a PID controller is a method by which a reliable, accurate, and lightweight flow regulator can be built for use on a rocket vehicle. This work will outline the development of flow simulations, PID controller, physical valve hardware, and initial testing.

Modeling A Hydropower Plant Powerhouse Based On Hebgen Dam, James Savella, Paul De La Cruz

Electrical Engineering

The United States Department of Energy (DOE) Water Power Technologies Office (WPTO) invited California Polytechnic State University (Cal Poly) to participate in the 2024 Hydropower Collegiate Competition (HCC) to research and design ways to convert non-powered dams (NPDs) to hydropower plants to contribute to a clean energy future. The Cal Poly HCC Electrical Engineering team used information gathered for the competition to create a simulated hydropower plant model of Hebgen Dam, in Montana, using a salient pole synchronous generator and a PID governor for an Electrical Engineering Senior Project. The simulated hydropower plant model allows a user to control the …

Diy Cell Incubator, Hayden James Jeanor

Electrical Engineering

The purpose of creating a cell Incubator is for the development of cell and tissue production in laboratory settings. Large scale research projects and the medical community grow cells for various reasons, including experiments and creating tissue for patients. However, they cannot simply depend on growing cells in a petri dish that sit on a rack at room temperature. To grow heathy cells in the fastest way possible, they use cell incubators. Cell incubators create an atmosphere within the incubation bay that is designed to promote cell growth. The three main components that need to be constantly regulated, using a …

On The Synthesis Of Optimal Control Laws, Meir Pachter, Isaac E. Weintraub

Faculty Publications

In this paper we advocate for Isaacs' method for the solution of differential games to be applied to the solution of optimal control problems. To make the argument, the vehicle employed is Pontryagin's canonical optimal control example, which entails a double integrator plant. However, rather than controlling the state to the origin, we correctly require the end state to reach a terminal set that contains the origin in its interior. Indeed, in practice, it is required to control to a prescribed tolerance rather than reach a desired end state; achieving tight tolerances is expensive, and from a theoretical point of …

Design, Modeling And Control Of A Two-Wheel Balancing Robot Driven By Bldc Motors, Charles T. Refvem

Master's Theses

The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. …

Backstepping Control And Transformation Of Multi-Input Multi-Output Affine Nonlinear Systems Into A Strict Feedback Form, Khalid Salim D. Alharbi

Graduate Theses and Dissertations

This dissertation presents an improved method for controlling multi-input multi-output affine nonlinear systems. A method based on Lie derivatives of the system's outputs is proposed to transform the system into an equivalent strict feedback form. This enables using backstepping control approaches based on Lyapunov stability and integrator backstepping theory to be applied. The geometrical coordinate transformation of multi-input multi-output affine nonlinear systems into strict feedback form has not been detailed in previous publications. In this research, a new approach is presented that extends the transformation process of single-input single-output nonlinear. A general algorithm of the transformation process is formulated. The …

Controllability And Observability Of The Discrete Fractional Linear State-Space Model, Duc M. Nguyen

Masters Theses & Specialist Projects

This thesis aims to investigate the controllability and observability of the discrete fractional linear time-invariant state-space model. First, we will establish key concepts and properties which are the tools necessary for our task. In the third chapter, we will discuss the discrete state-space model and set up the criteria for these two properties. Then, in the fourth chapter, we will attempt to apply these criteria to the discrete fractional model. The general flow of our objectives is as follows: we start with the first-order linear difference equation, move on to the discrete system, then the fractional difference equation, and finally …

Acceleration Amplitude Control System For Oscillating Silicon Oil Physics Experiment, Eric Chen

Electrical Engineering

This project is an ‘acceleration amplitude control system’ for use in an ‘oscillating silicon oil physics experiment’. The physics experiment has a tray of silicon oil. This tray must oscillate vertically at a specific amplitude (either at or just below the level for Faraday Waves). This control systems manages taking measurements of acceleration amplitude, and also manages correcting the shaker’s driving signal to obtain the correct acceleration. Features of the control system are designed for ease of use, because the system will mostly be operated by professor/ students without background knowledge in electrical engineering.

Developing And Testing An Anguilliform Robot Swimming With Theoretically High Hydrodynamic Efficiency, John B. Potts Iii

LSU New Orleans Theses and Dissertations

An anguilliform swimming robot replicating an idealized motion is a complex marine vehicle necessitating both a theoretical and experimental analysis to completely understand its propulsion characteristics. The ideal anguilliform motion within is theorized to produce ``wakeless'' swimming (Vorus, 2011), a reactive swimming technique that produces thrust by accelerations of the added mass in the vicinity of the body. The net circulation for the unsteady motion is theorized to be eliminated.

The robot was designed to replicate the desired, theoretical motion by applying control theory methods. Independent joint control was used due to hardware limitations. The fluid velocity vectors in the …

Project Labyrinth: Exploration Of Modulating Guitar Signals, Joseph Andrews, Andrew Patterson

Senior Theses

The overall objective of this project is to create a guitar pre-amplifier in the casing of an effects pedal. The pedal must be able to modulate amplitude and pitch. More specifically, the design for this pedal will include floating frequency filtering, phase shifting, and amplitude modulation.

Centralized Cooperative Control For Route Surveillance With Constant Communication, Joseph D. Rosal

Theses and Dissertations

The route surveillance mission is a new application of unmanned aircraft systems (UASs) to meet the reconnaissance and surveillance requirements of combatant commanders. The new mission intends to field a UAS consisting of unmanned aerial vehicles (UAVs) that can provide day and night surveillance of convoy routes. This research focuses on developing a solution strategy for the mission based on the application of optimal control and cooperative control theory. The route surveillance controller uses the UAS team size to divide the route into individual sectors for each entity. A specifically designed cost function and path constraints are used to formulate …

Sampled-Data Kalman Filtering And Multiple Model Adaptive Estimation For Infinite-Dimensional Continuous-Time Systems, Scott A. Sallberg

Theses and Dissertations

Kalman filtering and multiple model adaptive estimation (MMAE) methods have been applied by researchers in several engineering disciplines to a multitude of problems featuring a linear (or mildly nonlinear) model based on finite-dimensional differential (or difference) equations perturbed by random inputs. However, many real-world systems are more naturally modeled using an infinite-dimensional continuous-time linear systems model, such as those most naturally modeled as partial differential equations or time-delayed differential equations along with a possibly infinite-dimensional measurement model. The Kalman filtering technique was extended to encompass infinite-dimensional continuous-time systems with sampled-data measurements and a technique to approximate an infinite-dimensional continuous-time system …

Comparison Of Two Distributed Fuzzy Logic Controllers For Flexible-Link Manipulators, Linda Z. Shi, Mohamed Trabia

Mechanical Engineering Faculty Presentations

The paper suggests that fuzzy logic controllers present a computationally efficient and robust alternative to conventional controllers. The paper presents two possible structures for the distributed fuzzy logic controller of a single-link flexible manipulator. A linear quadratic regulator method is used to prove the effectiveness of fuzzy logic controllers.

Design Of Fuzzy Logic Controllers For Optimal Performance, Mohamed Trabia

Mechanical Engineering Faculty Presentations

While fuzzy logic controllers are generally robust, the performance of a system whose behavior is not well understood, or that has a large number of coupled inputs and outputs, may be less than optimal. In this paper, nonlinear programming techniques are used to improve the performance of a fuzzy logic controller for navigating an autonomous vehicle.

Newton Parameter Update Algorithm For Recurrent Neural Networks Applied To Adaptive System Identification And Control, Donald Allen Gates

Electrical & Computer Engineering Theses & Dissertations

This paper shows that the combination of a second-order neural network parameter update algorithm and internal network feedback can be effectively used for adaptive, nonlinear, dynamical system identification and control. Adaptive neural identification and control algorithms are typically utilized for real-time applications where the rate of adaptation is often critical. A fast, adaptive network parameter update algorithm is presented.

Simulation results show that this algorithm is capable of quickly identifying and adapting to changes in system parameters, making it feasible to use for real-time control and fault accommodation applications.

Fundamentals Of Linear State Space Systems, John Bay

Electrical and Computer Engineering Faculty Scholarship

This book addresses two primary deficiencies in the linear systems textbook market: a lack of development of state space methods from the basic principles and a lack of pedagogical focus. The book uses the geometric intuition provided by vector space analysis to develop in a very sequential manner all the essential topics in linear state system theory that a senior or beginning graduate student should know. It does this in an ordered, readable manner, with examples drawn from several areas of engineering. Because it derives state space methods from linear algebra and vector spaces and ties all the topics together …

Optimal Mixed-Norm Control Synthesis For Discrete-Time Linear Systems, David R. Jacques

Theses and Dissertations

A mixed-norm approach to control synthesis for discrete time linear systems is developed. Specifically, the problem of minimizing the H₂ norm of a transfer function, subject to a combination of ℓ₁ and-or H_∞ norm constraints on dissimilar but related transfer functions is considered. The uniqueness of the optimal solution is shown, and numerical methods for approximating the optimal solution to within arbitrary accuracy are developed. These methods generally result in high order compensators which can not be implemented in most practical applications. In response to this, a numerical method is developed which solves for suboptimal solutions of …

A Comparison Of The Neal-Smith And ΩSpΤΘ2, ΣSp, ΤΘ Flying Qualities Criteria, Brian A. Kish

Theses and Dissertations

Aircraft pitch response is a vital element of piloted vehicle flying qualities. There has been controversy over both the form and the substance of the requirements for short-term pitch response. Currently, MIL-STD- 1797A offers six different methods for evaluating short-term pitch response. These six methods often give conflicting results. Two methods are analyzed in this thesis - the Neal-Smith criteria and the ω_spΤ_θ2, ς_sp, τ_θ criteria. Domains from both criteria are mapped into each other identifying regions of conflict and regions of agreement. Parametric studies are performed and evaluated for trends. Further, a …

Improved Numerical Solution Of Mixed H2/H∞ Optimization With Applications, Linda D. Smith

Theses and Dissertations

This study improved the numerical optimization technique used to compute mixed H₂/H_∞ controllers. The run time to generate the full curve of an H₂/H_∞ design was reduced by a factor of almost 200 for a specific example. This was accomplished by improving gradient calculations, upgrading the H_∞ norm calculation to capture multiple peaks in the singular value plot and using routines that minimized processing time. The optimization routine used was the MATLAB CONSTR' Sequential Quadratic Programming (SQP) routine. This SQP routine was compared to a FORTRAN SQP numerical optimizer, IMSL-DNCONG. The method was …

Flight Control Design Using Mixed H2/Μ Optimization, Douglas D. Decker

Theses and Dissertations

This thesis examines the use of the mixed H2-Microns optimal control synthesis method in the design of a flight control system for the lateral-directional axes of the F-16 Variable Stability In-Flight Simulator Test Aircraft (VISTA). The method is designed to minimize the H2 norm (two-norm) for a given value of microns. This should provide adequate noise and disturbance rejection while maintaining robustness against several types of uncertainties in the system. This thesis finds that, for this problem, the two-norm is not an accurate representation of the outputs of interest. When the two-norm is broken up into its constituent parts an …

Applications Of ℓ1 And Mixed H2/ℓ1 Optimization, Mark S. Spillman

Theses and Dissertations

This thesis explores the use of ℓ₁ and mixed H2/ℓ1 optimization methods to design flight control systems. ℓ₁ optimization is used to handle tracking issues in the design of digital compensators. Control deflection and rate limitations, overshoot and undershoot limitations and steady-state error requirements are discussed. Model-matching techniques which produce acceptable tracking results with lower order controllers are also examined. New numerical methods for continuous H2/L1 and discrete H2/ℓ1 optimization are presented. These methods are used to design an aircraft controller in continuous and discrete time and the results are compared.

H2 Optimal Control With H∞, Μ, And L1 Constraints, David E. Walker

Theses and Dissertations

H₂ optimization with convex constraints is considered. The optimal order-free solution is shown to be unique through convex analysis. H_∞ constraints with feedforward terms and singular constraints are also allowed. The optimal fixed-order solution is shown to have the same characteristics as a mixed problem with regular H_∞ constraints. Furthermore, these results are shown to hold for controller orders as low as the optimal H₂ order. A numerical method is developed based on analytical gradients which results in sub- and super-optimal fixed-order controllers. The problem is extended to include an upper bound on a mu constraint …

Simultaneous Design Of Active Vibration Control And Passive Damping, Michele Lynn Devereaux Gaudreault

Theses and Dissertations

A modified form of the standard linear quadratic regulator LQR cost functional is used to optimally blend active vibration control and passive structural damping, whether viscous or viscoelastic. Viscoelastic damping is first modelled by a standard linear model, and then by a fractional derivative model. For the viscous damping case and the classically modelled viscoelastic damping case, a sub-optimal closed form solution is derived that is independent of the initial conditions. An iterative technique that minimizes the average value of the cost functional and one that minimizes the maximum value are developed. Both techniques are applicable to viscous and viscoelastic …

Optimal Control Of The Starfire Beam Director, Troy V. Lanier

Theses and Dissertations

The Starfire Beam Director (SBD) is located at the Starfire Optical Range at Kirtland Air Force Base in Albuquerque, New Mexico. The SBD capabilities include tracking celestial objects and active or passive tracking of artificial satellites to support the Phillips Laboratory Ground Based Laser Acquisition, Tracking, and Pointing (GBL ATP) program. The pointing and tracking accuracy needed to support such experiments is micron rad to sub-grad level. To accomplish this goal requires precise pointing of the massive 6 ton 1 -meter clear aperture coelostat. The purpose of this thesis is to use optimal control design techniques to develop a controller …

Developing Cmmca Flight Profiles For Cruise Missile Tracking, Andrew C. Hachman

Theses and Dissertations

The Air Force has recently acquired two aircraft dedicated for cruise missile tracking. These aircraft, known as the Cruise Missile Mission Control Aircraft (CMMCA), are responsible for collecting data from the missile and United States. Due to tracking and positively controlling the missile during live fire testing over the western the limited tracking radar range and the flight characteristics of the CMMCA, tracking cruise missiles through complex maneuvers is not always possible. A FORTRAN optimization, based on flight simulation and optimal control theory, was written in a prior thesis effort in order to determine optimal CMMCA flight profiles for tracking …

Simulation And Analysis Of A Second-Order System With An Added Finite Pole And/Or Zero, William Robert Bodwell

Electrical & Computer Engineering Theses & Dissertations

An original system whose transfer functions consist of two infinite zeros and two finite poles is modified by the addition of a finite pole and/or finite zero. Statespace techniques are used to obtain equations for simulating the transfer functions on both analog and digital computers. Sample cases were selected and simulated to demonstrate the various types of responses. Analysis of the computer results and mathematical analysis of the transfer functions provide nomographs for estimating the response of the systems to a step-input and methods for obtaining equivalent pole/zero configurations.