Shankar Sastry's Adaptive control : stability, convergence, and robustness PDF

By Shankar Sastry

ISBN-10: 0130043265

ISBN-13: 9780130043269

ISBN-10: 0130043672

ISBN-13: 9780130043672

This quantity surveys the main effects and methods of research within the box of adaptive keep an eye on. targeting linear, non-stop time, single-input, single-output structures, the authors supply a transparent, conceptual presentation of adaptive tools, allowing a serious evaluate of those thoughts and suggesting avenues of additional improvement. 1989 variation

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The combination of all these components led to an average power consumption of approximately 50mA. System survivability was a key addition for the A Boat Times system design. Two GPS and Compass systems were installed and coded to act as fall back redundant systems by Midshipmen Kevin Flaherty and Aaron Dougherty. Additionally, wind sensor performance was tracked by the system and if a failure was identified, follow on conditions for sail trim and steering were used to maximize the ability for A Boat Time to reach its desired location.

Based on the modes of operation, an efficient way to turn on and off sensors and/or actuators using a microcontroller and transistor-based relays is applied. 1 Introduction The paper presents a flexible solution for managing the power consumption of microcontrollers, sensors and actuators for an autonomous sailing robot. , from hours to months. The focus is further on small sailing vessels between one and four meters in length with corresponding limited capacities for solar panels and accumulators for supplying electricity to the control system.

The other is responsible for logging data to an SD card and transmitting it via a RockBlock Iridium satellite transceiver. The control system board periodically sends data via an I2C bus to the other board, which wakes from its sleep mode, records the data and if enough time has elapsed sends a message via Iridium. The Iridium messages contain a summary of the compass heading, roll and pitch angles, battery voltages and currents since the last message. It also sends the current location, waypoint data and temperature.

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Adaptive control : stability, convergence, and robustness by Shankar Sastry


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