https://pvela.gatech.edu/classes/ 2026-04-21T08:07:34+00:00 https://pvela.gatech.edu/classes/ https://pvela.gatech.edu/classes/lib/exe/fetch.php?media=wiki:dokuwiki.svg text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:lectures&rev=1724204335&do=diff Lecture Notes Zip file of all [Lecture Notes]. File Contents Lectures_00 Introduction, Simple adaptive examples. Lectures_01 Function classes, Existence and Uniqueness of Solutions to ODEs Lectures_02 Gronwall-Bellman, Properties of Solutions, Comparison Lemma text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:project_ballbeam&rev=1724204335&do=diff Ball and Beam System The ball and beam system is more or less what is sounds like. A ball is located on a beam and the objective is to place the ball at a given position on the beam, or to have the ball follow a specific linear trajectory along the beam. Videos can be found on youtube (\begin{equation} \mathcal{E} = \frac 12 \left(J_B + J_b\right){\dot \theta}^2 + \frac 12 m_b x^2 {\dot \theta}^2 + \frac 12 \left(m_b + \frac{J_b}{r^2}\right) \dot x^2 … text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:project_ductedfan&rev=1724204335&do=diff Planar Ducted Fan The planar ducted fan is a fun nonlinear control problem whose plant is a non-minimum phase system. Non-minimum phase systems have a right half plane zero, which impacts the achievable closed-loop response of the system. The reason that closed-loop response has constraints is that non-minimum phase systems tend to go in the wrong direction initially before going in the right direction (to go left, the system will initially go right then come around). Many other real-world syst… text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:project_invcartpend&rev=1724204335&do=diff Inverted Cart-Pendulum The inverted cart-pendulum is a classic example of an underactuated, naturally unstable, nonlinear system. It is somewhat simple as the project is single input. However, it does involve unmatched nonlinearities which does involve more advanced concepts. \begin{equation} \begin{split} \mathcal{E} & = \frac 12 m_c \dot x^2 + \frac 12 m_p \left(\dot x + l \cos(\theta) \dot \theta \right)^2 + \frac 12 m_p l^2 \sin^2(\theta) \dot \theta^2 + \frac 12 J_p… text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:project_planarheli&rev=1724204335&do=diff Planar Bi-Rotor Helicopter This project is quite similar to the Planar Ducted Fan project, however the control actuation is a bit more direct since there are two counter-torquing (pitch) thrusters. I haven't fully analyzed the system, but I believe that this one is not a non-minimum phase system due to the two counter-torquing thrusters (as opposed to the vectored thrust characteristics of the ducted fan). The two control inputs are independent, whereas in the ducted fan the control forces are… text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:project_quadcopter&rev=1724204335&do=diff Quadcopter The quadcopter model here is a higher dimensional, more realistic implementation of actual flight using multi-rotorcraft than the Planar Bi-Rotor Helicopter model. Though it is still considered to be an underactuated model relative to the full $SE(3)$ state dynamics model, if the output states are restricted to be the 3D position and the yaw, then the model becomes fully actuated. The pitch and roll dynamics become passive variables implicitly determined by the trajectory taken or … text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:references&rev=1724204335&do=diff ECE6554: Course References ---------- Reading: Course Texts The recommended reading material for the course is: * [WL] Lavretsky and Wise, Robust and Adaptive Control with Aerospace Applications. Spring, 2013. * link (Digital access through GT Library) text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:schedule&rev=1724204335&do=diff Progression of Course Material Time Line ---------- The class will be modified slightly from the last time it was taught. We will mostly follow what is below, but some additional topics may be added. Additionally, there is a non-lecture reading track that will have associated homeworks. The reading track should be read prior to the week listed / by the commencement of the week listed. Additional notes to complement the reading may be added.$\sigma$$L_1$ text/html 2024-08-21T01:38:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece6554:start&rev=1724204335&do=diff ECE6554: Adaptive Control ---------- Course Description: Methods of parameter estimation and adaptive control for systems with constant or slowly varying unknown parameters. MATLAB design projects emphasizing applications to physical systems. ----------