Sökning: "backstepping"

Visar resultat 1 - 5 av 9 uppsatser innehållade ordet backstepping.

  1. 1. Development of a Depth Controller for the SEAL Carrier

    Master-uppsats, KTH/Reglerteknik

    Författare :Hannes Carlsson; [2017]
    Nyckelord :;

    Sammanfattning : The SEAL Carrier is a hybrid marine vessel capable of traveling both fast on the water surface and completely submerged.Due to the craft's hydrodynamical properties it is taxing on the pilots to keep the SEAL Carrier at a certain depth for longer periods of time, therefore it is desirable to have a depth controller. LÄS MER

  3. 2. Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test

    Master-uppsats, KTH/Skolan för elektro- och systemteknik (EES)

    Författare :Riccardo Riccardo Zanella; [2016]
    Nyckelord :Mobile Manipulation; Aerial Robots; Quadrotor; Backstepping; Lyapunov-based Control.;

    Sammanfattning : This work considers an aerial robot system composed of an Unmanned Aerial Vehicle (UAV) and a rigid manipulator, to be employed in mobile manipulation tasks. The strategy adopted for accomplishing the aerial manipulation is a decomposition of the previous system in two decoupled subsystems: one concerning the center of mass of the aerial robot; and another concerning the manipulator's orientation. LÄS MER

  4. 3. Multiagent cooperative coverage control

    Master-uppsats, KTH/Skolan för elektro- och systemteknik (EES)

    Författare :Mario Sposato; [2016]
    Nyckelord :;

    Sammanfattning : In this work, the problem of deploying a team of mobile sensing agents to provide coverage of an environment is addressed. We propose a novel distributed algorithm to generate a sequence of waypoints for each agent, based on intermittent communication between the agents. LÄS MER

  5. 4. Design, Implementation and Analysis of a Controller for a Load Suspended From an Aerial Vehicle

    Master-uppsats, KTH/Skolan för elektro- och systemteknik (EES)

    Författare :Manuel Herzog; [2016]
    Nyckelord :;

    Sammanfattning : In this work, a trajectory tracking controller structure for a systemcomposed of a load and an aerial vehicle, which are connected by a rope, is presented. The main goal is to design a controller that guarantees that the load tracks a desired trajectory asymptotically. LÄS MER

  7. 5. Design and Implementation of an Active Horse Gait Simulator

    Master-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :Han Yuan; Virinchi Joglekar; [2012]
    Nyckelord :;

    Sammanfattning : This project aims to design and prototype an active horse gait simulator device. The main objective is to train horse riders and give them the feeling of riding a real horse. The mechanical structure as well as the control of this device have been designed, implemented and tested. LÄS MER