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Nonlinear Control of Thermoacoustic Oscillations in Rijke-Type Systems
William MacKunis,Mahmut Reyhanoglu,Krishna Bhavithavya Kidambi,Jaime Rubio Hervas 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper presents a robust and adaptive nonlinear controller to asymptotically regulate thermoacoustic oscillations in a Rijke-type system in the presence of dynamic model uncertainty and unknown disturbances. A mathematical model that includes unmodelled nonlinearities and parametric uncertainty is first introduced. A robust and adaptive nonlinear control law is then developed to compensate for the parametric uncertainty and unmodelled nonlinearities. Results of Monte Carlo-type simulations are included to demonstrate the effectiveness of the control law.
Passivity-Based Quaternion Feedback Control of a Hover System
Remon Damen,Mahmut Reyhanoglu,William MacKunis,Jaime Rubio Hervas 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
A passivity-based quaternion feedback control strategy is presented for a hover system (quadrotor UAV test bed), which achieves asymptotic attitude regulation. The proposed control design incorporates the input voltage constraints inherent in practical UAV systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the completenonlinear system dynamics.
Natalie Ramos Pedroza,William MacKunis,Vladimir Golubev 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
A sliding mode control method is presented in this paper, which is proven to achieve asymptotic limit cycle oscillation (LCO) suppression in unmanned aerial vehicle wings equipped with synthetic jet actuators (SJA). With a focus on applications involving small unmanned aerial vehicles (SUAV) with limited onboard computing resources, the proposed control law is designed to be inexpensively implemented, requiring no adaptive laws, function approximators, or pitching and plunging velocity measurements. Challenges in the control design include input-multiplicative uncertainty due to the parametric uncertainty and nonlinearity that are inherent in the SJA dynamic model. To achieve the result, a sliding mode control strategy is amalgamated with a velocity estimator, which is designed using a bank of dynamic filters. This is the first output feedback control result that achieves asymptotic LCO regulation in the presence of an uncertain, nonlinear SJA dynamic model, without the use of adaptive laws or neural networks. A detailed model of the SUAV dynamics is utilized along with a rigorous Lyapunov-based stability analysis to prove asymptotic regulation of the pitching and plunging displacements, and numerical simulation results are provided to demonstrate the performance of the proposed control design.
Quaternion-based Robust Trajectory Tracking Control of a Quadrotor Hover System
Derek Hoffman,Muhammad Rehan,William MacKunis,Mahmut Reyhanoglu 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6
This paper presents a robust nonlinear output feedback control method that achieves three degree of freedom (3-DOF) attitude trajectory tracking of a hover system test bed. The proposed control method formally incorporates dynamic model uncertainty in addition to test bed voltage constraints. To reduce the computational requirement in the closed-loop system, constant feedforward estimates of the input-multiplicative parametric uncertainty are utilized in lieu of adaptive parameter estimates. To eliminate the need for angular rate measurements, the control design employs a bank of dynamic filters, which operates as a velocity estimator in the closed-loop system. A rigorous error system development and Lyapunov-based stability analysis are presented to prove asymptotic 3-DOF attitude trajectory tracking control. Computer simulation and experimental results are also included to illustrate the performance of the attitude control method using the Quanser 3-DOF hover system test bed.