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Control-Oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small-Scale Unmanned Helicopter
DownloadSpring 2014
Model-based control design of small-scale helicopters involves considerable challenges due to their nonlinear and underactuated dynamics with strong couplings between the different degrees-of-freedom (DOFs). Most nonlinear model-based multi-input multi-output (MIMO) control approaches require the...
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Spring 2011
Optimal experiment design has been considered as an effective tool to improve model reliability and accuracy in nonlinear system identification in the past few decades. This thesis is concerned with the following challenges which have not been previously addressed: poor initial guess problem of...
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Fall 2013
This thesis presents techniques to measure the human arm's mechanical impedance using a rehabilitation robot, drawing applications to telerehabilitation and patient motor function assessment. Conventional teleoperation system stability analysis and control assumes the human operator remains...