Showing posts with label Unstable Dynamical Systems. Show all posts
Showing posts with label Unstable Dynamical Systems. Show all posts
Characterizing Internal Parasitic Controllers
I
led a team project devoted to characterizing the adverse effect of the sonar on
the quadrotor altitude control as part of the Stochastic Systems course. In the Stochastic Systems course, team
project papers were ranked as belonging to the top-third, middle-third or
bottom-third of the class. The projects
were ranked by the instructor and her colleagues as belonging to the top-third
and my team gave an invited presentation for the benefit of our peers in the
Stochastic Systems course. My team members were Rakshit Allamraju and Ben Reish.
Establishing Functionality on the Parrot AR Drone 2.0 in the Optitrack Environment
Keep it simple. Keep it simple. Keep it simple.
I had arrived at Oklahoma State University to find a graduate student that needed help with their research project. It turned out that an advanced control systems was malfunctioning, and I was recruited to establish controllable flight on the Parrot AR Drone 2.0 quadrotor, rewrite the C++ Robotic Operating System (ROS) architecture in python, and establish communication between the Optitrack environment and the computer controlling the quadrotor. It turns out that the advanced control structure was unnecessary, so I had replaced the control structure with a bundle of PID controllers. If you watch closely, you'll see an anomaly in the controller performance which gave rise to part of my research direction.
I had arrived at Oklahoma State University to find a graduate student that needed help with their research project. It turned out that an advanced control systems was malfunctioning, and I was recruited to establish controllable flight on the Parrot AR Drone 2.0 quadrotor, rewrite the C++ Robotic Operating System (ROS) architecture in python, and establish communication between the Optitrack environment and the computer controlling the quadrotor. It turns out that the advanced control structure was unnecessary, so I had replaced the control structure with a bundle of PID controllers. If you watch closely, you'll see an anomaly in the controller performance which gave rise to part of my research direction.
Inverting and Balancing a Pendulum using Control Theory
For my undergraduate linear control theory lab course, we were given the option to go above and beyond the requirements for the final project, which was to simply balance an inverted pendulum, and design a system that inverts and then balances a pendulum.
The red laptop nearby ran the software commanding the cart and pendulum system. It is of note that the computer suffered from irregular performance, for instance, the computer would randomly pause executing code, and then speed up the program output to resynchronize with the internal computer clock. The point is that this control architecture was robust to not only disturbances, but also system delay.
The red laptop nearby ran the software commanding the cart and pendulum system. It is of note that the computer suffered from irregular performance, for instance, the computer would randomly pause executing code, and then speed up the program output to resynchronize with the internal computer clock. The point is that this control architecture was robust to not only disturbances, but also system delay.
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