Nonlinear Tracking of Natural Mechanical Systems for HWIL Simulation
Metadata Field | Value | Language |
---|---|---|
dc.contributor.advisor | Sinclair, Andrew | |
dc.contributor.advisor | Cochran, John | en_US |
dc.contributor.advisor | Cicci, David | en_US |
dc.contributor.author | Martin, Justin | en_US |
dc.date.accessioned | 2008-09-09T21:23:59Z | |
dc.date.available | 2008-09-09T21:23:59Z | |
dc.date.issued | 2007-08-15 | en_US |
dc.identifier.uri | http://hdl.handle.net/10415/838 | |
dc.description.abstract | Auburn University has entered into collaboration with the US Department of Defense for academic study and development of hardware-in-the-loop simulation laboratory. One aspect of this collaboration has been research into new concepts for the control of flight motion tables, a critical component in HWIL simulations. Commonly used Proportional-Integral-Derivative (PID) controllers can suffer limitations in applications with nonlinear and multi-input/multi-output systems. To overcome these limitations, a nonlinear dynamic-inversion controller was developed. Applying Lagrange’s equations to determine equations of motion, a Lyapunov function was used to develop a globally asymptotically stable controller. After comparing PID and dynamic-inversion controllers through multiple commanded motions and adjustments to gain, the dynamic-inversion was more stable and produces less error. Both controllers are capable of performing real-time applications. | en_US |
dc.language.iso | en_US | en_US |
dc.subject | Aerospace Engineering | en_US |
dc.title | Nonlinear Tracking of Natural Mechanical Systems for HWIL Simulation | en_US |
dc.type | Thesis | en_US |
dc.embargo.length | NO_RESTRICTION | en_US |
dc.embargo.status | NOT_EMBARGOED | en_US |