First Advisor

Garrison Greenwood

Date of Publication

Fall 12-13-2016

Document Type

Dissertation

Degree Name

Doctor of Philosophy (Ph.D.) in Electrical and Computer Engineering

Department

Electrical and Computer Engineering

Language

English

Subjects

Micro air vehicles -- Control systems -- Design, Multiagent systems, Micro air vehicles -- Automatic control, Adaptive control systems

DOI

10.15760/etd.3282

Physical Description

1 online resource (vii, 109 pages)

Abstract

Biomimetic flapping-wing vehicles have attracted recent interest because of their numerous potential military and civilian applications. In this dissertation is described the design of a multi-agent adaptive controller for such a vehicle. This controller is responsible for estimating the vehicle pose (position and orientation) and then generating four parameters needed for split-cycle control of wing movements to correct pose errors. These parameters are produced via a subsumption architecture rule base. The control strategy is fault tolerant. Using an online learning process, an agent continuously monitors the vehicle's behavior and initiates diagnostics if the behavior has degraded. This agent can then autonomously adapt the rule base if necessary. Each rule base is constructed using a combination of extrinsic and intrinsic evolution. Details of the vehicle, the multi-agent system architecture, agent task scheduling, rule base design, and vehicle control are provided.

Rights

In Copyright. URI: http://rightsstatements.org/vocab/InC/1.0/ This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s).

Persistent Identifier

http://archives.pdx.edu/ds/psu/18793

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