Browsing by Advisor
Now showing items 1-20 of 21
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Adaptive almost disturbance decoupling for a class of nonlinear differential-algabraic equation systems
(2016)A class of engineering systems is modeled by Differential Algebraic Equations (DAEs), which are also known as singular, descriptor, semistate and generalized systems. In the chemical engineering processes, the differential ... -
Adaptive backstepping control of quadrotors with neural-network
(2018)A quadrotor is a type of unmanned aerial vehicles. It has been widely used in aerial photography. The quadrotor has the capability of vertical takeoff and landing, which is very useful in small or narrow areas. The ... -
Adaptive control of a parallel robot via backstepping technique
(2006)Parallel robots have attracted more and more attention in recent years due to their kinematical and mechanical advantages. However the complicated high nonlinear model with unknown parameters and singularities make the ... -
Attitude and position control of flapping-wing micro aerial vehicles
(2018)Compared with the fixed-wing and rotor aircraft, the flapping-wing micro aerial vehicle is of great interest to many communities because of its high efficiency and flexible maneuverability. However, issues such as ... -
Attitude control for a quadrotor UAV using adaptive fuzzy backstepping
(2017)With improvements on automation, computer, electronics and other technologies, applications of unmanned aerial vehicles (UAVs) have expanded from pure military field to civilian areas. As a multirotor aircraft, a quadrotor ... -
Attitude control of a quadrotor UAV: Experimental results
(2017)The quadrotor is a type of unmanned aerial vehicles (UAVs) which is gaining popularity over the past few years for its potential applications. Quadrotor UAVs are used, for instance, for surveillance, search and rescue ... -
Autonomous navigation using image processing
(2016)In the recent years, the pursuit intelligent and self-operated machines have increased. The human user is to be completely eliminated or minimized as much as possible. It is also popular now to observe machines that are ... -
Balance control of a five-DOF robot leg
(2015-06-15)A biped robot, also known as a humanoid robot, is built to resemble the shape and perform the actions of the human body. While functioning, a biped robot interacts with surrounding human environments. Currently, various ... -
Design and control of a 10 DOF biped robot
(2009)Compared to wheeled robots, biped robots have their advantages. Biped robots have better mobility. Biped robots can walk in human environments, such as rough terrain and the place that contains obstacles, and can also climb ... -
Design and control of a 6 DOF biped robot
(2006)This thesis is composed of the following five parts: construction of a 6 Degrees of Freedom (DOF) biped robot, control system design, analysis of forward kinematics and inverse kinematics, walking pattern planning, and ... -
Design of a 6-DOF haptic interface for robotic teleoperation
(2008)Teleoperation has become increasingly important in medical applications, handling hazardous materials, as well as in other robotics applications. Force feedback in such systems is essential; therefore a haptic device is ... -
Design, analysis and passive balance control of a 7-DOF biped robot
(2007)Biped robots have many advantages than traditional wheeled or tracked robots. They have better mobility in rough terrain and can travel on discontinuous path. The legs can also provide an active suspension that decouples ... -
Design, simulation and control of a 12 DOF biped robot
(2012-11-10)The field of humanoid robotics has in the last several decades taken off as an active area of research. The goal of this field id to build robots which by having a human-like form will be able to work in environments ... -
Fuzzy adaptive control of a two-wheeled inverted pendulum
(2018)Recently, the two-wheeled inverted pendulum has drawn the attention of robotic community in view of a plethora of applications, such as transport vehicles: Segway, teleconferencing robots, and electronic network-vehicle. ... -
Fuzzy logic control of a two degree of freedom parallel robot
(2010)Parallel robots differ greatly from their serial counterparts in terms of performance and mechanical ability. Serial robots are open chained mechanisms since each link is connected to an adjacent one and each joint is ... -
Nonlinear controller design for a buck converter
(2006)This thesis presents five different nonlinear control techniques for voltage regulation of a DC-DC buck converter operating in continuous conduction mode. A state space averaging model is derived from a non-ideal buck ... -
Quadrotor altitude and attitude control with neural network
(2017)Over the years, the controller design for an unmanned aerial vehicle has been attracting considerable amount of attentions and interests. In this thesis, a quadcopter has been studied intensively, and an adaptive ... -
RBF neural network based generalized predictive control for nonlinear stochastic systems
(2014-01-22)Almost all practical systems are nonlinear, which are subject to disturbances and contain uncertainties. In most cases, disturbances and uncertainties can be modeled as stochastic processes, which make it necessary to ... -
Robust and adaptive control via backstepping technique
(2005)Most of the control systems are designed using linear techniques, which have been well developed. Practical physical systems are typically nonlinear. Nonlinear control is one of the biggest challenges in modern control ... -
Robust H infinity model reference tracking control of singular systems using T-S fuzzy model and LMI
(2014-12-12)In this study, a Takagi-Sugeno fuzzy model based tracking controller is proposed for nonlinear high index singular systems with a guaranteed H1 model reference tracking performance. A coordinate transformation is introduced, ...
