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 9 of 9 for “"Hybrid Dynamical Systems"”.
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Analytical and Computational Tools for the Study of Grazing Bifurcations of Periodic Orbits and Invariant Tori
… study of qualitative changes in the dynamics of systems with discontinuities, also known as nonsmooth or hybrid dynamical systems, under parameter variations. Accordingly, this dissertation is divided into two parts. The analytical section of this dissertation discusses mathematical tools for the …
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Hybrid Control For Aerospace Systems
Hybrid dynamical systems are dynamical systems in which continuous and discrete evolutions coexist and interact. Their twofold nature makes them particularly powerful for both describing and synthesizing complex dynamical behaviors. In this work we exploit this capability for designing innovative …
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Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion
… that allow stable and agile gaits for full-order hybrid dynamical models of quadrupedal locomotion. Unlike time-invariant nonlinear controllers, time-varying controllers do not rely on sensor data for gait phasing and can initiate locomotion from zero velocity. Motivated by these properties, we …
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Hybrid Solutions for Mechatronics. Applications to modeling and controller design.
… of modeling and controlling the evolution of dynamical sys- tems is one of the main objectives in mechatronics engineering. When approaching the problem of controlling physical or digital systems, the dynamical models have been historically divided into continuous-time, described by …
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Automated Telescience: Active Machine Learning Of Remote Dynamical Systems
… inferring the underlying structure of dynamical systems, and remote controlled automated science. First, a collection of coevolutionary search methods and applications are presented. These approaches include: a method to reduce the computational overhead of evolutionary algorithms via …
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Collaborative Locomotion of Quadrupedal Robots: From Centralized Predictive Control to Distributed Control
… of distributed controllers for complex robot systems, existing approaches are tailored to the modeling and control of multi-agent systems composed of collaborative robotic arms, multi-fingered robot hands, aerial vehicles, and ground vehicles, but not collaborative legged agents. Legged robots …
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Invertibility and observability of switched systems with inputs and outputs
Hybrid dynamical systems or switched systems can operate in several different modes, with some discrete dynamics governing the mode changes. Each mode of operation is described by a dynamical subsystem having an internal state, an external input (which can be thought of as a disturbance or a …
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Reglerentwurf zur dezentralen Online-Steuerung von Lichtsignalanlagen in Straßennetzwerken
Die Dissertationsschrift widmet sich einer systemtheoretischen Untersuchung zur verkehrsabhängigen Steuerung von Lichtsignalanlagen in Straßennetzwerken. Aus einem mathematischen Modell für den Verkehrsablauf auf Knotenzufahrten wird ein Verfahren abgeleitet, mit dem sich Umschaltzeitpunkte und …