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 “"Geometric control"”.
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Geometric Control of Ensemble Systems
… as it is beyond the scope of classical control theory. In this thesis, we study fundamental control problems associated with ensemble systems, including controllability analysis and control input design. In particular, we introduce the notion of ensemble controllability for parameterized …
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Error analysis for harmonic tracking algorithm using geometric control
Geometric Control Theory was initiated in the beginning of the 1970's and has now became a well established approach in addressing problems of tracking and disturbance rejections of time independent and dependent signals. This thesis describes the error analysis for time-dependent harmonic signal …
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Nonlinear and geometric control methods in deep learning theory
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-12-01
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Geometric control of quantum mechanical and nonlinear classical systems
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1999.
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Geometric control and motion planning for three-dimensional bipedal locomotion
"This thesis presents a hierarchical geometric control approach for fast and energetically efficient bipedal dynamic walking in three-dimensional (3-D) space to enable motion planning applications that have previously been limited to inefficient quasi-static walkers. In order to produce …
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Dynamic and geometric control of electronic spins in diamond for quantum sensing and quantum information science
… Its capability of robust but high-precision spin control allows the NV center to be not only a useful atomic-scale magnetic field sensor but also an attractive building block for quantum processors. In this dissertation, I present novel schemes to dynamically and geometrically control NV spins for …
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Geometric and Game-Theoretic Control of Energy Assets in Small-Scale Power Systems
… Much of the work is focused on demand-side control, which has received little attention in the research literature. Nonlinear geometric control is shown to be highly effective in the game-theoretic construct to balance the objectives of the load with the needs of the system.
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Embedding engineering intuition into computational design through interactive topology optimization
… formulations such as buckling or stress, lack of geometric control, and difficulty manufacturing. Interactive topology optimization algorithms overcome these obstacles by prompting users to directly modify the geometry of the design as the optimization runs. By embedding their engineering …
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On properties of linear control systems on Lie groups
In this work we study controllability properties of linear control systems on Lie groups as introduced by Ayala and Tirao in [AT99]. A linear control system _x0006_Σ Lie group G is defined by x' = X(x) + Σ<sup>k</sup><sub>j=1</sub> u<sub>j</sub>Y<sub>j</sub>(x), where the drift vector field X is an …
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Design, Analysis, and Optimization of Vibrational Control Strategies
This dissertation presents novel vibrational control strategies for mechanical control-affine systems with high-frequency, high-amplitude inputs. Since these control systems use high-frequency, zero-mean, periodic inputs, averaging techniques are widely used in the analysis of their dynamics. By …
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High density bimodal parts by three dimensional printing
… improving the material properties and the geometric control of 3DP parts has been a necessary goal of the project. One path to accomplishing this task is to increase the green density of the 3DP compact prior to sintering. To accomplish this goal, the printing of fine, sub-micron Titanium …
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ADAPTIVE CONTROL DESIGN FOR QUADROTORS
Unmanned Aerial Vehicles (UAV) control has become a very important point of scientific study. The control design challenges of a UAV make it one of the most researched areas in modern control applications. This thesis specifically chooses the Quadrotor as the UAV platform. Considering the quadrotor …
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Contributions to mixing and hypocoercivity in kinetic models
… norms, and I discuss the necessity of the geometric control condition for the spatially degenerate kinetic Fokker–Planck equation. Finally, I study the possible discretisation of the velocity variable for kinetic equations. For the numerical stability, Hermite functions are a suitable …
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Gait and Morphology Optimization for Articulated Bodies in Fluids
The contributions of this dissertation can be divided into three primary foci: input waveform optimization, the modeling and optimization of fish-like robots, and experiments on a flapping wing robot. Novel contributions were made in every focus. The first focus was on input waveform optimization. …
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Synthesis and characterization of TiO2 nanotube Schottky diodes
… electrochemical anodization as it offers precise geometric control over the NT growth. Fabrication parameters, such as anodization time, electrolyte concentrations, and annealing environments, were investigated until the resulting NTs were free from structural defects. Demonstrated with low vacuum …
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Mechanics of Flapping Flight: Analytical Formulations of Unsteady Aerodynamics, Kinematic Optimization, Flight Dynamics and Control
… analyses, flight dynamics analysis, and control synthesis. Second, wing kinematics optimization is considered for both aerodynamic performance and maneuverability. For each case, an infinite-dimensional optimization problem is formulated using the calculus of variations to relax any …
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On the geometry and parametrization of almost invariant subspaces and observer theory
… finite-dimensional time-invariant observable control system in state space form. Almost conditioned invariant subspaces were introduced by Willems. They generalize the concept of a conditioned invariant subspace requiring the invariance condition to hold only up to an arbitrarily small …
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Synthesizing Structure: Patterned Control of Distributed Systems
… often architected in the same fashion, with a control action split among several independent parts rather than being centralized. In these instances, a system's parts interact with a distinct interconnection structure - a pattern - that must be adhered to by the system's controller. This thesis …
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Attitude control on manifolds via optimization and contractions with automatic gain tuning
… or focusing a satellite. In traditional control approaches, the attitude is often parameterized by Euler angles or unit quaternions which exhibit problems such as gimbal lock or ambiguity in representation, respectively. These complications prevent the controllers from achieving global …
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
… part of this dissertation, we consider tracking control of underactuated systems on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). We formulate both asymptotically and finite-time stable tracking control schemes for underactuated rigid bodies that have one …