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 67 for “"Hierarchical Control"”.
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Hierarchical control of complex manufacturing processes
"The need for changing the control objective during the process has been reported in many systems in manufacturing, robotics, etc. However, not many works have been devoted to systematically investigating the proper strategies for these types of problems. In this dissertation, two approaches to …
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Decentralized and hierarchical control of robot manipulators
This thesis deals with the decentralized and hierarchical control of a class of robot manipulators, where the robot manipulator is treated as a large scale uncertain system. The work is divided into three parts. The first part is concerned with the development of an integrated mathematical model of …
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Constrained optimization for hierarchical control system design
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1999.
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Adaptive Hierarchical Control in V2G Integrated Micro-grids
An adaptive hierarchical control system for utilizing electric vehicle (EV) batteries to provide energy storage service in a Vehicle-to-Grid (V2G) integrated micro-grid is presented in this thesis. The control system consists of an on-line self-tuning (ST) adaptive inverter controller at the …
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A hierarchical control strategy for aircraft thermal systems
Aircraft systems present an interesting control problem given the fact that there exist multiple objectives, actuators, and physical dependencies throughout the system. For decades the onboard systems of aircraft have worked in isolation seeking to achieve their goals while giving little to no …
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Hierarchical control and decomposition of decentralized linear stochastic systems
Thesis. 1978. Ph.D.--Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
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Estimation and hierarchical control of market-driven electric power systems
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
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Hierarchical control of hydrogel dynamics via choice of ligand chemistry
… with the goal to further provide rational control over the mechanical properties of the gel. Although studies have focused on varying nanoparticle size and shape, little work has been conducted to understand how the choice of ligand chemistry affects the macroscopic gel dynamics. This …
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On-line distributed hierarchical control and optimisation of large scale systems
… for on-line steady state optimisation and control of large scale systems using a micro-computer based system. A two-level hierarchical computer structure consisting of a coordinator at the supremal (upper) level and two local decision units at the infimal (lower) level had been established. …
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Structural modeling and hierarchical control of large-scale electric power systems
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1994.
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Design of a reflexive hierarchical control system for an autonomous underwater vehicle
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1989.
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Active structural acoustic control of double panel systems including hierarchical control approaches
… and principles of active structural acoustic control when applied to double panel systems are investigated to determine the respective advantages and limitations of this approach. Included is the application of a novel hierarchical control approach which may reduce the controller complexity …
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Hierarchical Control of Constrained Multi-Agent Legged Locomotion: A Data-Driven Approach
… dissertation is to systematically construct a hierarchical framework that allows for robust multi-agent collaborative legged locomotion. More specifically, this work provides a detailed derivation of a torque controller that is theoretically justifiable in the context of Hybrid Zero Dynamics at …
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Hierarchical control for multi-domain coordination of vehicle energy systems with switched dynamics
This dissertation presents a hierarchical control framework for vehicle energy management. As a result of increasing electrification, legacy integration and control approaches for vehicle energy systems have become limiting factors of performance and cannot accommodate the requirements of …
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Safe Navigation of Multi-Agent Quadrupedal Robots: A Hierarchical Control Framework Based on Distributed Predictive Control and Control Barrier Functions
… development of sophisticated distributed layered control algorithms focused on the navigation, planning, and control of multi-agent quadrupedal robots collaborating in uncertain environments. Quadrupedal robots are high-dimensional, complex systems that are inherently unstable, posing significant …
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A framework for the control of electro-thermal aircraft power systems
This dissertation presents a hierarchical controller framework that utilizes model predictive controllers at multiple time scales in order to manage the operation of aircraft power systems. With current and next generation aircraft replacing traditional power systems with electrically powered …
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Wind power utilization improvement by using hierarchical controlled microgrid
… a cluster of generators and loads behave like a controllable unit, is proposed. This microgrid concept is achieved by a proposed hierarchical control method which contains three levels: decentralized level 1(primary or bottom level)is of fast response and can satisfy the essential power system …
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Advanced Power Sharing Scheme under Unbalanced and Nonlinear Loads in an Islanding Microgrid
… unbalanced voltage and harmonics distortion. The hierarchical control structure comprises primary and secondary levels. For improving voltage quality, a secondary controller is designed to manage compensation of unbalanced and harmonic voltage at point common coupling (PCC). The Primary controller …
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Parametric Coordination in Hierarchical Computation of Decentralized Controls
This thesis develops a hierarchical control algorithm for computing suboptimal decentralized gains based on infimal problem parameterizations. Several parameterizations are presented and illustrated with numerical examples. The algorithm and the parameterization lead to simpler supremal problems …
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Development and optimization of new generation start-up instrumentation systems (SUI) for domestic CANDU reactors
… Start-Up Instrumentation (SUI), both in-core and Control Room equipment, using a new generation of detectors and cables in order to manage obsolescence. The main objective of this thesis is to develop a new systematic approach to SUI installation/replacement procedure development and optimization. …
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