Now showing items 1-6 of 6
Wavelet-based excitation representation and response determination of linear and nonlinear systems
The dissertation determines the evolutionary spectrum of non-stationary stochastic processes and describes the time-varying characteristics of the response of linear and nonlinear dynamic systems subject to non-stationary ...
Stability analysis of a phase plane control system
Many aerospace attitude control systems utilize a phase plane control scheme which includes nonlinear elements such as dead zone and ideal relay. Nonlinear control techniques such as pulse width modulation (PWM), describing ...
Multi-robot behaviors with bearing-only sensors and scale-free coordinates
This thesis presents a low-cost multi-robot system for large populations of robots, a new coordinate system for the robot based on angles between robots and a series of experiments validating robot performance. The new ...
Model validation and consistency
This thesis addresses model validation, important in robust control system modeling, for the identification method developed by Antoulas. Given a system model, the problem is to assess whether the model is consistent with ...
Improved haptic fidelity via reduced sampling period with an FPGA-based real-time hardware platform
The challenge of displaying stiff virtual walls in a haptic interaction is the inspiration for this document. The fidelity of their implementation necessitates high virtual stiffness integrated with passive device behavior. ...
Modeling and control of nonlinear transmission attributes in harmonic drive systems
Harmonic drives are special flexible gear systems widely used in space robots, the semiconductor industry, precision measuring devices, and military applications because of their advantages including near-zero backlash, ...