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--- ece6554:project_ductedfan [2022/04/23 17:36] – [Model Mismatch and Adaptive Control] pvela
+++ ece6554:project_ductedfan [2023/03/20 19:22] (current) – [Implementation] classes
@@ Line 51: / Line 51: @@
 The thrust vector angle range should be $\psi \in [-\pi/3, \pi/3]$. Make sure to implement these limits in the simulation.  It is best to design trajectories that do not hit these limits in the closed-loop. More aggressive trajectories is best saved for future self-study.
+===== Implementation =====
+Functional code stubs for the implementation are provided in the {{ ECE6554:projects:ductedfan.zip | ducted fan zipfile}}.  They implement a constant control signal that most definitely fails to do the job, but provide enough structure to complete the project.  Comments in the code should help to realize the necessary improvements.
 ====== Activities =======
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@@ Line 75: / Line 78: @@
 ===== Step 2: Nonlinear Controller =====
-Rearrange the equations to see if they can be put into a form that looks more like a linear system plus a non-linear defect. Design a controller with nonlinear cancelling terms.  Can they all be cancelled or are there constraints on what can be done? How were those constraints, if any, managed by you, the designer? Repeat the same procedure with parameter mismatch and demonstrate improved performance relative to the static nonlinear controller design.
+Rearrange the equations to see if they can be put into a form that looks more like a linear system plus a non-linear defect. Design a controller with nonlinear cancelling terms.  Can they all be cancelled or are there constraints on what can be done? How were those constraints, if any, managed by you, the designer?
+Compare this controller with the purely linear approach and quantify performance differences if any. Do not consider parameter mismatch, just solve this as a standard control problem.
 //Tip:// The ducted fan is similar to the bi-rotor but has the added challenge of being non-minimum phase. The same transformation of state described in the bi-rotor project should apply to the ducted fan.  You can use it as one approach to creating an adaptive controller for the nonlinear system.
-===== Step 3: Not Sure Yet =====
+===== Step 3: Nonlinear Controller with Adaptation =====
-**Only Steps 1+2 are to be done.**
+Now consider parameter mismatch and augment the nonlinear controller to be an adaptive one.  Repeat the same procedure as for Step 1 with parameter mismatch and demonstrate improved performance relative to the static nonlinear controller design.  If possible, compare performance of linear vs nonlinear adaptive controllers (best to quantify).
-==== Nonlinear Control Lyapunov Approach, the PWMN Controller ====
+//Note:// One thing to be careful about is the initial transient experienced by the adaptive controllers.  When comparing, it is usually best to separate the transient time period from the non-transient period. Also, one could argue that the most important comparison is with the repeated run since that would be the normal use case for an adaptive controller. Thus, limiting comparison to the repeat run outcomes is acceptable and may even be preferred for simplicity of data collected and analyzed.
-==== Performance Reference Adaptive Control =====
 ====== Report Considerations =======