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 45 for “"ING-INF/04 Automatica"”.
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Coordinated Control of Robotic Swarms in Unknown Environments
… and control a swarm of mobile robots moving in unknown environments. In particular, the author's attention is focused on two different approaches in order to solve two different problems. The first algorithm considered in this work deals with the possibility of decomposing a main complex …
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Internal Model Principle: extension to the switching case and applications
… method to robustly achieve the asymptotic tracking of periodic references with an infinite number of harmonics. In the first part of the thesis the basic components of the novel control scheme are described and preliminary results on stabilization are provided. In the second part, advanced …
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The port-Hamiltonian framework as a comprehensive approach to model and simulate complex systems
This thesis describes modelling tools and methods suited for complex systems (systems that typically are represented by a plurality of models). The basic idea is that all models representing the system should be linked by well-defined model operations in order to build a structured repository of …
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Motion control and real-time systems: an approach to trajectory rebuilding in non-deterministic networks
… and/or velocity of machines are controlled using some type of device. In motion control the position, velocity, force, pressure, etc., profiles are designed in such a way that the different mechanical parts work as an harmonious whole in which a perfect synchronization must be achieved. The …
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Model and control of tendon actuated robots
… modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brief discussion …
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Development of a research vehicle able to perform autonomous manoeuvres
Autonomous driving is an important research field and presents several problems with different nature and complexity. The goal of this work is describing such problems and the concerning solutions adopted while developing an experimental vehicle designed to autonomously perform some manoeuvres …
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Approximate Explicit MPC and Closed-loop Stability: Analysis based on PWA Lyapunov Functions
… on-line, which is the main limitation when dealing with hard real-time applications. As the implicit MPC algorithm cannot be guaran- teed in terms of execution time, in many applications the explicit MPC solution is preferable. In order to deal with systems integrating mixed logic and dynam- …
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Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems
… nonlinear blocks; a play/stop operator, a switching-reset mechanism, and an adaptive dead-zone. This setup resembles the Lure problem studied in the absolute stability framework, but the types of nonlinearities considered here do not satisfy (in general) a sector condition. These nonlinear blocks …
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Hybrid Control For Aerospace Systems
… makes them particularly powerful for both describing and synthesizing complex dynamical behaviors. In this work we exploit this capability for designing innovative control and estimation algorithms that cope with challenges in aerospace applications. In particular: 1. we propose different …
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Design and Test of an Automotive Clutch Actuation
… system very complex. The system was modeled using the Bond-Graph technique which allowed the drafting of the dynamical system equations, in state space form. In fact the system itself is quite complex due to the fact that multiple dynamic domains were taken into account. The result is a unique …
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A convex relaxation approach to set-membership identification
… measurement noise is not available and the only information on such an error is that its amplitude or energy is bounded. In the framework of Set-membership identification, the result of the estimation process is the set of all system parameter values consistent with measured data, assumed model …
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Proprietà Strutturali degli Zeri per Sistemi Matriciali del Secondo Ordine: Teoria e Applicazioni
… direzioni vettoriali di zero associate agli ingressi ed alle uscite.
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Nonlinear Model Predictive ControlFast Algorithms and Implementation
… technique, substantially, allows to avoid solving the optimization problem on-line at each sample time. The control move is computed by means of a set of pre-computed solutions to the optimization problem for a given number of different system state values. This approach is potentially …
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Model-based and data-based frequency domain design of fixed structure robust controller: a polynomial optimization approach
L'abstract è presente nell'allegato / the abstract is in the attachment
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Cooperative Hoisting with Dual Crawler Cranes: Modeling, Motion Planning, and Control under Constraints
With the rapid development of large scale infrastructure construction and industrial assembly such as wind turbine installation, bridge segment erection, and modular plant construction dual crawler cranes (DCCs) have become essential equipment for handling oversized and heavy loads. Their …
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