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Offline Optimization of a Four Dimensional TF/TA Problem Considering Engine Dynamics
, M.Sc. Thesis Sharif University of Technology ; Nobahari, Hadi (Supervisor) ; Banazadeh, Afshin (Supervisor)
Abstract
In this thesis, the problem of offline trajectory optimization of a flying vehicle has been solved. Terrain following/ terrain avoidance has been considered as a guiadanec strategy of vehicle. The point-mass model in three dimensional space for flight simulation and the transfer functions for modeling of vehicle dynamics has been used. One of the constraints of this problem is related to engine’s dynamic behavior, which is not considered in the privious works. So in this thesis at first, a turbofan engine has been modeled and it’s static and dynamic model has been obtained. Then, the effect of engine’s dynamic model in the trajectory optimization has been investigated. The results show that...
Hardware implementation of an ADRC controller on a gimbal mechanism
, Article IEEE Transactions on Control Systems Technology ; 2017 ; 10636536 (ISSN) ; Nobakhti, A ; Sharif University of Technology
Abstract
Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally...
Hardware implementation of an ADRC controller on a gimbal mechanism
, Article IEEE Transactions on Control Systems Technology ; Volume 26, Issue 6 , 2018 , Pages 2268-2275 ; 10636536 (ISSN) ; Nobakhti, A ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2018
Abstract
Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally...