Trajectory tracking in switched systems: an internal model principle approach: the elliptical billiard system as a benchmark for theory

Sistemi dinamici caratterizzati dall'interazione tra dinamiche continue e discrete sono detti sistemi ibridi. Un sistema switched è un particolare sistema ibrido costituito da una famiglia di sottosistemi a tempo continuo e da una legge che ne regola le transizioni. Questi sistemi hanno numerose applicazioni nel controllo di sistemi meccanici, nell'industria automobilistica e aeronautica, nel controllo del traffico aereo, nell'elettronica di potenza, etc. Questa tesi sarà incentrata sul problema dell'inseguimento asintotico di traiettoria per sistemi switched. Nella prima parte, il problema di inseguimento è stato propriamente definito e risolto prendendo in esame il sistema biliardo ellittico. Al fine di definire una classe di traiettorie di riferimento ammissibili per il sistema biliardo un problema di pianificazione di traiettoria è stato approntato e risolto attraverso l'utilizzo di risultati della teoria dei polinomi non negativi e tecniche LMI. Il problema di inseguimento in presenza di incertezze nei parametri del sistema è stato considerato e risolto sia nel caso di feedback dallo stato che dalla sola posizione. Nella seconda parte della tesi i risultati ottenuti per il sistema biliardo sono stati generalizzati per una classe di sistemi switched con dinamica lineare in ogni modo operazionale, mappe di reset lineari e dimensione dello spazio di stato possibilmente variabile tra i vari modi. In tutti i casi la strategia di controllo proposta è basata su una versione discontinua del principio del modello interno.Dynamical systems that are described by an interaction between continuous and discrete dynamics are called hybrid systems. Their evolution is generally given by equations of motion containing mixtures of logic, discrete-valued or digital dynamics, and continuous-variable or analog dynamics. A switched system is a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. These systems have numerous applications in control of mechanical systems, automotive industry, aircraft and air traffic control, switching power converters, and many others. This thesis will focus on the problem of asymptotic trajectory tracking for switched systems. First, the tracking control problem is properly stated and solved for a controlled elliptical billiard system. In order to find an admissible class of reference trajectories inside the billiards a motion planning problem has been solved by using results from the theory of non-negative polynomials and LMIs techniques. The trajectory tracking problem in presence of uncertainties on the plant parameters has been also considered and solved in both cases of state-feedback and output-feedback. In the second part, the results obtained for the billiard system are generalized for a class of switched systems having linear dynamics in each operating mode, linear reset maps and possible nonuniform state space among the different modes. In all cases the proposed control strategy is based on a dynamic compensator, whose state is subject to discontinuities and whose structure is based on a nonsmooth version of the internal model principle

Active Vibration and Noise Alleviation in Rotorcraft Using Microflaps.

This work presents a comprehensive analysis of active Gurney flaps, or microflaps, for on blade control of noise and vibration in rotorcraft. The initial portion of the work considered the two-dimensional unsteady aerodynamic characteristics of three different oscillating microflap configurations using a compressible computational fluid dynamics (CFD) flow solver. Among these the configuration most suitable for rotorcraft applications was chosen. An unsteady reduced order aerodynamic model (ROM) was developed for the microflap using the Rational Function Approximation approach and CFD based oscillatory aerodynamic load data. The resulting ROM is a state-space, time-domain model that accounts for unsteadiness, compressibility and time-varying freestream effects. The ROM was validated against direct CFD calculations for a wide range of flow conditions showing excellent agreement. Subsequently, the ROM was then incorporated into a comprehensive rotorcraft simulation code featuring a free-wake model, an acoustic prediction tool, and fully coupled flap-lag-torsional blade dynamics. The higher harmonic control (HHC) algorithm was used to simulate closed-loop active control with a 1.5% chord microflap on a hingeless rotor configuration resembling the MBB BO-105. Three spanwise configurations, single, dual, and a five-microflap configuration were considered. Results indicate that the microflap can achieve reductions ranging from 3-6 dB in the blade-vortex interaction (BVI) noise. Vibration reduction ranging from 70-90% was also demonstrated at both low-speed and high-speed flight conditions. It was also found that reduction in BVI noise results in an increase in vibrations and vice versa, a trend also noted in previous active control studies. Next, simultaneous BVI noise and vibration reduction was studied. A reduction of 2-3 dB in the advancing and retreating side noise combined with a 55% reduction in the vibratory loads was achieved using the five-microflap configuration. The 1.5% chord microflap was also compared to a 20% chord plain trailingedge flap showing similar effectiveness in reducing vibration and noise. Finally, a new approach for dealing with actuator saturation in the HHC algorithm was developed using nonlinear constrained optimization techniques. The optimization approach takes less computational time compared to the previous approaches while yielding better performance in the case of multiple control surfaces.Ph.D.Aerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/89750/1/akpadthe_1.pd

Innovative Approaches to 3D GIS Modeling for Volumetric and Geoprocessing Applications in Subsurface Infrastructures in a Virtual Immersive Environment

As subsurface features remain largely ‘out of sight, out of mind’, this has led to challenges when dealing with underground space and infrastructures and especially so for those working in GIS. Since subsurface infrastructure plays a major role in supporting the needs of modern society, groups such as city planners and utility companies and decision makers are looking for an ‘holistic’ approach where the sustainable use of underground space is as important as above ground space. For such planning and management, it is crucial to examine subsurface data in a form that is amenable to 3D mapping and that can be used for increasingly sophisticated 3D modeling. The subsurface referred to in this study focuses particularly on examples of both shallow and deep underground infrastructures. In the case of shallow underground infrastructures mostly two-dimensional maps are used in the management and planning of these features. Depth is a very critical component of underground infrastructures that is difficult to represent in a 2D map and for this reason these are best studied in three-dimensional space. In this research, the capability of 3D GIS technology and immersive geography are explored for the storage, management, analysis, and visualization of shallow and deep subsurface features

Facial Modelling and animation trends in the new millennium : a survey

M.Sc (Computer Science)Facial modelling and animation is considered one of the most challenging areas in the animation world. Since Parke and Waters’s (1996) comprehensive book, no major work encompassing the entire field of facial animation has been published. This thesis covers Parke and Waters’s work, while also providing a survey of the developments in the field since 1996. The thesis describes, analyses, and compares (where applicable) the existing techniques and practices used to produce the facial animation. Where applicable, the related techniques are grouped in the same chapter and described in a chronological fashion, outlining their differences, as well as their advantages and disadvantages. The thesis is concluded by exploratory work towards a talking head for Northern Sotho. Facial animation and lip synchronisation of a fragment of Northern Sotho is done by using software tools primarily designed for English.Computin