Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"Contraction Theory"”.
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A study of contraction theory and oscillators
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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Nonlinear filtering of video sequences using contraction theory
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
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Safe planning and control via L1-adaptation and contraction theory
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2022-04-06 without embargo terms
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Nonlinear observer design using contraction theory with application to heat exchangers having varying phase transition
Thermo-fluid systems such as air conditioning and refrigeration systems are widely used in residential, commercial, and industrial applications. By the end of the 20th century, nearly 70 percent of U.S. households had air conditioning, and 99.5 percent had at least one refrigerator. Advanced …
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Control primitives for fast helicopter maneuvers
… learning the movement primitives, the partial contraction theory is used to combine them. We imitate the aggressive maneuvers that are performed by a human and use these primitives to achieve new maneuvers that can fly over an obstacle. Experiments on the Quanser 3-DOF Helicopter demonstrate …
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Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft
… of multiple dynamical systems using contraction theory, with applications to cooperative control of multi-agent systems and synchronization of interconnected dynamics such as tethered formation flight. Inspired by stable combinations of biological systems, contraction nonlinear …
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Discrete-time observers for inertial navigation systems
… the so-called strapdown problem. Nonlinear contraction theory is used as the main analysis tool. The hierarchical structure of the system physics is sytematically exploited and the use of nonlinear measurements, such as distances to time-varying reference points, is discussed. Effects of …
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Fundamental limitations between noise and back-action in bio-molecular networks
… the error by calculating upper bounds using contraction theory for deterministic and stochastic systems. Future research directions in improving the upper bounds are discussed.
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Phosphorylation based insulation devices design and implementation
… isolation. Employing singular perturbation and contraction theory tools, this work provides a framework to determine an optimal substrate and phosphatase concentration to reach a tradeoff between the retroactivity to the input and the retroactivity to the output.
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Attitude control on manifolds via optimization and contractions with automatic gain tuning
… The first is a substantial generalization on the theory of classical Riemannian metrics for tangent bundles which provides the ability to compare and combine attitude and velocity terms in the stability analysis, allowing us to consider a larger set of feasible controller gains. The second …
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New decentralized algorithms for spacecraft formation control based on a cyclic approach
… and enhancing the recent results on the theory of convergence to geometric patterns and exploring the analysis of this approach using the tools of contracting theory. First, an extensive analysis of the cyclic pursuit dynamics leads to developing control laws useful for spacecraft …
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Discrete-time Contraction Analysis and Controller Design for Nonlinear Processes
… to achieve time-varying setpoints tracking using contraction theory. Through the differential dynamic system framework, the contraction conditions for discrete-time systems, which ensure the exponential convergence between system responses and feasible time-varying references, are derived. The …
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Combined abutment and contraction scour in compound channels for extreme flood events
… PhD project, the combination of abutment and contraction scour is investigated to better understand the scour mechanisms and scour patterns for extreme floods. Close-toreality scour events were physically simulated using models built at 1:45 and 1:30 geometric scales of two-lane bridge …
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Feedback for neuronal system identification
In order to estimate reliable models from noisy input-output data, system identification techniques usually require that the data be generated by a process with a fading memory. Non-equilibrium systems such as neuronal and chaotic models lack a fading memory. Their identification is challenging, in …
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Neuroinspired control strategies with applications to flapping flight
… of a neuron circuit to the principles of control theory. We begin the process of trying to bridge this gap by considering the simplest of classical controllers, PD control. We propose a simple two-neuron, two-synapse circuit based on the concept that synapses provide attenuation and a delay. We …