Search Constraints

Start Over
Filtering by: Subject Drone aircraft -- Control systems -- Mathematical models Remove constraint Subject: Drone aircraft -- Control systems -- Mathematical models

Search Results

  • Optimal soaring by a small autonomous glider

    Creator:
    Kyle, Jason A.
    Abstract:
    Extending the flight time of an autonomous unmanned air vehicle by soaring is considered. A suboptimal controller is developed and successful static soaring is demonstrated with a 6 degree of freedom glider model. Altitude gain rates of between ¼ and ½ m/s are achieved with this simple implementation. A hybrid...
    Resource Type:
    Dissertation
    Full Text:
    structure, the flight control system increases the potential energy of the aircraft through autonomous

  • Learning based methods applied to the MAV control problem

    Creator:
    Salichon, Max
    Abstract:
    This thesis addresses Micro Aerial Vehicle (MAV) control by leveraging learning based techniques to improve robustness of the control system. Applying classical control methods to MAVs is a difficult process due to the complexity of the control laws with fast and highly non-linear dynamics. These methods are mostly based on...
    Resource Type:
    Dissertation
    Full Text:
    of control where a model of the system is needed in order to design the controller. Successful

  • Planning Under Uncertainty for Unmanned Aerial Vehicles

    Creator:
    Skeele, Ryan
    Abstract:
    Unmanned aerial vehicle (UAV) technology has grown out of traditional research and military applications and has captivated the commercial and consumer markets, showing the ability to perform a spectrum of autonomous functions. This technology has the capability of saving lives in search and rescue, fighting wildfires in environmental monitoring, and...
    Resource Type:
    Masters Thesis
    Full Text:
    standard program for modeling wildfire, FARSITE. This model was used to validate a weighted-greedy

  • A hierarchical neuro-evolutionary approach to small quadrotor control

    Creator:
    Shepherd, Jack F., III
    Abstract:
    Quadrotors are unique among Micro Aerial Vehicles in providing excellent maneuverability (as opposed to winged flight),while maintaing a simple mechanical construction (as opposed to helicopters). This mechanical simplicity comes at a cost of increased controller complexity. Quadrotors are inherently unstable, in the sense that they are essentially unflyable by a...
    Resource Type:
    Masters Thesis
    Full Text:
    adaptive methods for control. A primarily model-based controller, with the addition of neural networks to

  • Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning

    Creator:
    Zhang, Yawei
    Abstract:
    Efficient coordination is desired for multi-robot systems in many scenarios. In this research, we first provide a multi-robot system to help human workers during tree fruit harvest. We present an auction-based method to coordinate a team of self-propelled bin carriers to retrieve fruit bins. Second, we propose a more general...
    Resource Type:
    Masters Thesis
    Full Text:
    provide a multi-robot system to help human workers during tree fruit harvest. We present an auction-based

  • Learning-based control and coordination of autonomous UAVs

    Creator:
    Bell, Adam R.
    Abstract:
    Uninhabited aerial vehicles, also called UAVs are currently controller by a combination of a human pilot at a remote location, and autopilot systems similar to those found on commercial aircraft. As UAVs transition from remote piloting to fully autonomous operation, control laws must be developed for the tasks to be...
    Resource Type:
    Masters Thesis
    Full Text:
    - plications. Such control laws are derived using a mathematical model of the system dynamics to be controlled

  • High resolution root locus plots

    Creator:
    Swenson, Edward James
    Abstract:
    A technique is presented for obtaining high resolution root locus plots and Bode diagrams. This is done by translating the origin of coordinates to the area of interest by an appropriate change of variable. The method is applicable to hand calculations or use of a potential analog computer. Examples include...
    Resource Type:
    Masters Thesis
    Full Text:
    aircraft and missile control system analysis and synthesis 1 where root locus plots must be constructed

  • Critical evaluation of Ouyang's model reduction method

    Creator:
    Jia, Zuxin
    Abstract:
    A model reduction method for stable, linear, time-invariant, continuous systems is critically studied. This method, proposed by Prof. Ouyang, is based on the concept of power dispersion and the least-squared estimation technique. The reduced models obtained by this method retain the stability of the stable, high order original systems and...
    Resource Type:
    Masters Thesis
    Full Text:
    model can lead to acceptable simplified control system structures (Shahriar, 1981). This topic has

  • A model reference adaptive system for control of a flexible mechanical manipulator

    Creator:
    Lee, Byeung Kyun
    Abstract:
    For control of a flexible manipulator, the assumed- mode method is applied to the mathematical model of the model reference adaptive system. In the assumed-mode method, the flexible, continuous manipulator is described by a limited number of degrees of freedom. A modified model reference adaptive system is studied for direct...
    Resource Type:
    Dissertation
    Full Text:
    A model reference adaptive system for control of a

  • Applying hierarchical and adaptive control to coordinating simple robots

    Creator:
    Knudson, Matthew D.
    Abstract:
    Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task...
    Resource Type:
    Masters Thesis
    Full Text:
    furtherance of the system objective and therefore make it an intractable control problem for a single