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Nonlinear Tracking of Natural Mechanical Systems for HWIL Simulation


Metadata FieldValueLanguage
dc.contributor.advisorSinclair, Andrew
dc.contributor.advisorCochran, Johnen_US
dc.contributor.advisorCicci, Daviden_US
dc.contributor.authorMartin, Justinen_US
dc.date.accessioned2008-09-09T21:23:59Z
dc.date.available2008-09-09T21:23:59Z
dc.date.issued2007-08-15en_US
dc.identifier.urihttp://hdl.handle.net/10415/838
dc.description.abstractAuburn 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.isoen_USen_US
dc.subjectAerospace Engineeringen_US
dc.titleNonlinear Tracking of Natural Mechanical Systems for HWIL Simulationen_US
dc.typeThesisen_US
dc.embargo.lengthNO_RESTRICTIONen_US
dc.embargo.statusNOT_EMBARGOEDen_US

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