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 20 of 20 for “"Control Constraints"”.
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Safe Nonlinear Control Under Control Constraints via Reachability, Optimal Control and Reinforcement Learning
… dynamics with actuators that are subject to constraints. The combination of the two poses complicates the task of designing stabilizing controllers that can guarantee safety, which we denote as the stabilize-avoid problem. Existing control-based techniques can provide safety and stability …
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Lossless convexification of quadrotor motion planning with experiments
… allows convex representations of many non-convex control constraints, such as that of the quadrotors. The second contribution of this thesis is to include two separate methods to generate path constraints that capture non-convex position constraints. Using the convexied optimal trajectory …
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Model predictive control with application to real-time hardware and guided parafoil
Model Predictive Control (MPC) is a control strategy that is suitable for optimizing the performance of constrained systems. Constraints are present in all control systems due to the physical and environmental limits on plant operation. Through a systematical handling of constraints, MPC can …
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Implementation of dithering digital ripple correlation control for photovoltaic maximum power point tracking with windowed sensing
… in photovoltaic applications using dithered PWM control. Constraints imposed by efficiency, cost and component size limit the available PWM resolution of a power converter, and may in turn limit the MPP tracking efficiency of the photovoltaic (PV) system. In these scenarios, PWM dithering can be …
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Multi-modal motion planning using composite pose graph optimization
… cost function, vehicle dynamics, and state and control constraints into a sparse factor graph is introduced. By formulating the motion planning problem in pose graph form, the motion planning problem can be addressed using efficient optimization techniques, similar to those already widely …
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Optimal and near-optimal medium range air-to-air missile guidance against maneuvering targets
… air-to-air missile are synthesized using optimal control theory. Optimality in time/range/energy at intercept of a target is the main objective. Attainable sets and their boundaries are obtained and used to generate optimal intercept points in a three-dimensional scenario. A three-phase …
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Model-based approaches for learning control from multi-modal data
… attention when solving very general continuous control tasks in a model-free end-to-end fashion. However, there has been great difficulty in applying these algorithms to real-world systems due to poor sample efficiency and inability to handle state and control constraints. We introduce and …
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Game theoretic formulations and solution methods for microeconomic market models
… of differential Nash games with mixed state-control constraints. Although the presented results are applicable to a broad class of games that satisfy certain structural properties, electricity markets represent a key application area underlying several of the chapters and are specifically …
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Parametrized maneuvers for autonomous vehicles
… equations of motion and nonlinear state and control constraints without resorting to iterative optimization. Experimental application to a three degree-of-freedom rotorcraft testbed and the design of a stable feedforward control framework demonstrates the essential features of the method on …
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Approximate dynamic programming solutions with a single network adaptive critic for a class of nonlinear systems
… dual network structure in solving for optimal control. In the second paper, the plant dynamics with parametric uncertainties or unmodeled nonlinearities has been considered. The author discusses the dynamic re-optimization of the J-SNAC controller that is used to capture the uncertainty but is …
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Nonlinear Energy Harvesting With Tools From Machine Learning
… is close to its natural frequency. While various control methods applied to an energy harvester realize resonant frequency tuning, they are either energy-consuming or exhibit low efficiency when operating under multi-frequency excitations. In order to overcome these limitations in a linear energy …
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Optimal Open Loop and Nonlinear Feedback Control for Remote Orbital Capture (multi-Body Dynamics, Recovery, Satellite Servicing, Payload Handling)
Optimal open loop and nonlinear feedback control histories are presented for the problem of detumbling (passivating) a target satellite by a remotely operated robot spacecraft. Detumbling is required so that the robot spacecraft, sometimes called a teleoperator or orbital maneuvering vehicle (OMV), …
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Integral aerodynamic-structural-control wing design
The aerodynamic-structural-control design of a simplified wing and a forward-swept composite wing are studied. In the first example, the wing is modeled as a beam with a control surface near the wing tip. The torsional stiffness is the only physical property varying along the span. The aerodynamic …
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A Parallel-In-Time Gradient-Type Method For Optimal Control Problems
… gradient-type method for time-dependent optimal control problems. When the classical gradient method is applied to time-dependent optimal control problems, each iteration requires the forward solution of the state equations followed by the backward solution of the adjoint equations before the …
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Maritime Vehicle Routing under Uncertainty: Liquefied Natural Gas Shipping and Offshore Pipeline Damage Assessment Problems
… decision. Stochastic production-inventory control constraints set is also developed which synchronizes production-inventory plan and LNG carrier routing schedule under weather disruption. Lastly, offshore pipeline networks damage assessment problem is discussed. In order to collect how/what …
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Hybrid adaptive control using the inverse system
A novel adaptive control scheme is presented. It utilizes the inverse system concept along with the conventional model-following adaptive control scheme. Initially a basic control scheme for controlling linear time-invariant plants is considered. The scheme is then extended to the adaptive control …
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NEW COMPUTATIONAL METHODS FOR OPTIMAL CONTROL OF PARTIAL DIFFERENTIAL EQUATIONS
… science, engineering and other fields. Optimal control of partial differential equations (PDEs) has tremendous applications in engineering and science, such as shape optimization, image processing, fluid dynamics, and chemical processes. In this thesis, we develop and analyze several efficient …
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Optimization-Based Guidance for Satellite Relative Motion
Spacecraft relative motion modeling and control promises to enable or augment a wide range of missions for scientific research, military applications, and space situational awareness. This dissertation focuses on the development of novel, optimization-based, control design for some representative …
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Validated global multiobjective optimization of trajectories in nonlinear dynamical systems
… realized by (Pareto-)optimal trajectories. By controlling all sources of error, our resulting method is the first global trajectory optimization method that can reliably handle nonconvex nonlinear dynamical systems with substantial instabilities, such as the notoriously ill-behaved multi-body …