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--- ece6554:project_ductedfan [2023/03/13 11:18] – classes
+++ 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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 //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: Nonlinear Controller with Adaptation
+===== Step 3: Nonlinear Controller with Adaptation =====
 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).