2026-09-19T15:01:23Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/278822022-01-13T07:54:11Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Eric Feron.
Ishutkina, Mariya A. (Mariya Aleksandrovna)
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
2005-09-26T15:59:02Z
2005-09-26T15:59:02Z
2004
2004
http://hdl.handle.net/1721.1/27882
61398404
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2004.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 79-80).
This research effort presents the design and implementation of a supervisory controller for a 3DOF helicopter. This safety critical system is used in undergraduate laboratories in the Department of Aeronautics and Astronautics at MIT. There already exists a framework for designing a supervisory safety controller for motions about one axis. It is based on an analytical description of the safety region in state space. However, this framework cannot be easily extended to more complicated systems such as a 3DOF helicopter. In this thesis we present a different approach which uses a real-time simulation of linearized plant dynamics with a feedback law to ensure the system's safety. We describe the development of the system model, the design and implementation of the supervisory safety controller, integration of the safety controller as part of a remote laboratory and its evaluation based on its performance during laboratory exercises.
by Mariya A. Ishutkina.
S.M.
80 p. + 1 computer optical disc (4 3/4 in.)
1070020 bytes
1066854 bytes
application/pdf
application/pdf
en_US
Massachusetts Institute of Technology
"This CD contains the graded laboratory reports for 16.30 Lab #1. The course was taught in Spring semester of 2004 by Prof. Eric Feron. The laboratory reports written by students doing the remote laboratory are called: rem*.pdf. The laboratory reports written by students doing the traditional laboratory are called: trad*.pdf"--README.txt on CD.
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Aeronautics and Astronautics.
Design and implimentation of a supervisory safety controller for a 3DOF helicopter
Thesis
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