Loading...
Search for:
model-reference-control
0.006 seconds
Model reference adaptive control design for a ducted fan air vehicle in vertical plane
, Article Applied Mechanics and Materials, 21 November 2012 through 22 November 2012 ; Volume 225 , November , 2012 , Pages 331-337 ; 16609336 (ISSN) ; 9783037855065 (ISBN) ; Banazadeh, A ; Sharif University of Technology
2012
Abstract
Ducted fan aerial vehicles have drawn many attentions in the world because of their successful involvement in non-traditional reconnaissance and surveillance missions. However, due to inherent dynamic uncertainties as well as inconsistent responses, significant control challenges are still to be addressed. In this study, a non-linear dynamic model for ducted fan is firstly proposed to be employed for control design. This model is then validated by performing a series of standard simulation scenarios. Afterwards, an adaptive control method, named as model reference is utilized to design perfect controllers in hover as well as vertical flight. The capability of the adaptive laws to update the...
Control of Experimental Swarm Robots for Identification, Imaging & 3D Modeling Purposes
, M.Sc. Thesis Sharif University of Technology ; Alasty, Aria (Supervisor)
Abstract
The aim of this project is decentralized control of a group of robots (swarm robots); such that the aggregation maneuver, leader following, Identification and imaging the target, will be performed so good as to make a three-dimensional model of the target from these images. Swarm robots consist of a number of similar and limited features robots which interaction in a group of robots, will lead to special features for the group. Any agent of group decides what to do only with its local information from the environment. Swarm robots are more applicable for the jobs in which a distributed perception from the environments needed, for example space exploration and military operations.In this...
Model Reference Adaptive Control in Fractional Order Systems
, Ph.D. Dissertation Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Salarieh, Hassan (Supervisor)
Abstract
In this thesis, Model reference adaptive control in fractional order systems was discussed. Various types of this problem can be introduced based on fractional order dynamics in system equations, reference model equations or adaptation laws, which some of them play more important role in real-world applications, also some of them have more complexity in governing mathematical equations and in stability analysis. Fractional order dynamics were recently used in many real-world applications like model reference control, Chaos synchronization and Chaos control, so studying adaptive control in this fields, could be important. Nowadays, Model reference adaptive control was used in many industrial...
Impedance Control of Balance Robot
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
In recent years, rehabilitation has become of particular importance due to direct connection with the quality of life of human beings. Balance training and assessment devices have been designed to provide means for rehabilitation of patients with balance problems. Sharif balance robot is an example which has been developed at Sharif University of Technology. The subject stays on a plate with active rotation in both Medial-Lateral and Anterior-Posterior directions. The active rotation of this plate is provided by two electrical motors embedded inside the machine. Position commands for this plate are sent to the electrical motor by the control hardware which consists of a PC104 running...
Model reference control of PMSM drive systems based on model predictive control
, Article 6th Annual International Power Electronics, Drive Systems, and Technologies Conference, PEDSTC 2015, 3 February 2015 through 4 February 2015 ; 2015 , Pages 395-399 ; 9781479976539 (ISBN) ; Fazli, M ; Tahami, F ; Sharif University of Technology
Abstract
Servo drive systems require a fast dynamic response for position control applications. Conventional cascade control structure has sluggish response due to bandwidth limitations on speed and current control loop. To achieve a fast output response, model reference adaptive control methods can be used to remove the dynamics of inner control loops. In this paper, feed-forward signals are generated using model predictive control which is combined with the conventional cascade structure. Using this approach, a fast transient response and satisfactory tracking ability can be achieved. The proposed control configuration is verified by the simulation results