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 8 of 8 for “"Linear model predictive control"”.
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Gain Conditioning for Linear Model Predictive Control
Linear model predictive control (MPC) is used in a wide variety of process industries. Linear MPCs calculate adjustments in multiple manipulated variables (MVs) to ensure that operating constraints are obeyed and that controlled variables (CVs) are maintained near their setpoints. Industrial …
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Non-linear model predictive control for autonomous vehicles
… processors and better optimization algorithms, Model Predictive Control (MPC) systems are more readily used for real-time applications. This research focuses on the application of MPC to trajectory generation of autonomous vehicles in an online manner. The operating environment is assumed to be …
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Advanced Linear Model Predictive Control For Helicopter Shipboard Maneuvers
… implementing and analyzing advanced methods of model predictive control to control helicopters into stable flight near a ship and perform a soft touchdown from that state. A shrinking horizon model predictive control method is presented which can target specific states at specific times and take …
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Design synthesis of NLMPC-based tracking controller for autonomous vehicles with active aerodynamic control
… have witnessed extensive studies on tracking-control for autonomous vehicles (AVs). However, there is a lack of studies on effective design methods in this field. To tackle this problem, this thesis proposes a design synthesis method which is featured a design framework with two layers: at the …
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Application of Koopman Operator Theory to Legged Locomotion
Nonlinearities from complicated robot systems and harsh contact dynamics have long impeded the effectiveness of optimal control strategies for legged robots. In this work, we present a linearized simple walking model using Koopman Operator Theory, and its usage in Linear Model Predictive Control …
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Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles
… There is a need for generating suitable control techniques that allow for the real-time implementation of control algorithms for different missions and tactics executed by a group of cooperative UAVs. In this thesis, we investigate possible control patterns and associated algorithms for …
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Automated Optimization and Control of Modular Chemical Systems
… transition to continuous operation raises new control challenges to meeting specifications in critical quality attributes (CQAs). Process models, facilitated by the widespread adoption of process analytical technology for on-line CQA measurements, enable the concise formulation of existing …
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Neural Model-Based Advanced Control of Chylla-Haase Reactor
… objective of this thesis is to develop advanced control method and to design advanced control system for the polymerization reactor (Chylla-Haase) to maintain the high accurate reactor temperature. The first stage of this research start with the development of mathematical model of the process. …