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.
Results
Showing 1 to 18 of 18 for “"Lyapunov analysis"”.
-
A Lyapunov analysis of LRU
… (TTL) cache. In this thesis, we present a unique Lyapunov based proof for an asymptotically exact TTL approximation for the steady state distribution of our LRU Markov model. We further present ongoing theoretical extensions to other variants of LRU, as well as simulations that validate our model. …
-
Algebraic relaxations and hardness results in polynomial optimization and Lyapunov analysis
… half of this thesis are on the development and analysis of computational techniques for certifying stability of uncertain and nonlinear dynamical systems. We show that deciding asymptotic stability of homogeneous cubic polynomial vector fields is strongly NP-hard. We settle some of the converse …
-
Sliding Mode Control with Chattering Reduction
… A disturbance estimation is performed based on Lyapunov analysis and adaptive control techniques and then included in the control law along with the equivalent control term. As a result, the Sliding Mode Control gain can be set to a smaller constant value so as to reduce chattering. The modified …
-
Reinforcement learning in network control
… model-based reinforcement learning. By applying Lyapunov analysis, our algorithm can be applied to queueing networks with unbounded state spaces. We prove that under our algorithm, the average queue backlog can get arbitrarily close to the optimal result. We also implement simulations to …
-
Modeling and Control of Flapping Wing Robots
… is developed to improve performance. A Lyapunov analysis of the two adaptive controllers guarantees boundedness for all error terms. Asymptotic stability is guaranteed for the derivative error in the dynamic inversion controller and for both the position and derivative error in the …
-
Adaptive Commanding of Control Moment Gyroscopes with Backlash
… the non-linearity introduced by gear lash. A Lyapunov analysis of the system’s equations of motion provides knowledge of its convergence, the tracking of ideal trajectories, and the rejections of disturbances. The objective is to create an adaptive control law that rejects the non-linearity …
-
Rendezvous of multiple Dubins car agents with minimal sensing and control requirements
… that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomously in this way, the agents will achieve rendezvous given a connected initial assignment graph and a merge assumption. We then proceed to show that, with a slightly different control law, an initial …
-
Collision avoidance based on line of sight angle
… such as stability will be established using Lyapunov analysis. This will be followed by a discussion on simulation results. The design and architecture of the differential drive robot developed to implement this algorithm will be presented as well. And finally, some results from …
-
Distributed Control Of Multi-Agent Systems Using Biologically-Inspired Reinforcement Learning
… optimal flocking control can be obtained. The Lyapunov analysis has been used to prove the convergence of the proposed design. The effectiveness of the proposed design is also demonstrated through numerical and experimental results based on the coordination of multiple Unmanned Aircraft Systems …
-
Adaptive Control for Nonlinear, Time Varying Systems
… of this control law is investigated via Lyapunov analysis, and simulation results are provided showcasing overall controller performance in the presence of both internal and external disturbances and dynamical effects.</p>
-
Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
… in the absence of measurement errors using a Lyapunov analysis. In addition, the behavior of this estimation scheme is compared with three state-of-the-art filters for attitude estimation, and the comparison results are presented.</p>
-
L1 adaptive control for nonlinear and non-square multivariable systems
… transient performance bounds are proven using Lyapunov analysis. To demonstrate the benefits of the L1 adaptive controllers we consider a missile system and an inverted pendulum, which are both underactuated systems. Finally, we propose a filter design framework in the frequency domain. A new …
-
Model based fault diagnosis and prognosis of class of linear and nonlinear distributed parameter systems modeled by partial differential equations
… boundary measurement. In all the above methods, Lyapunov analysis is utilized to show the boundedness of the closed-loop signals during fault detection, prediction and resilience under mild assumptions"--Abstract, page iv.</p>
-
Adaptive Control for a Class of Nonlinear, Time Varying Rotational Systems
… of this control law is investigated via Lyapunov analysis. Simulation results are provided showcasing overall controller performance of attitude control in the presence of both internal and external disturbances, measurement noise, actuator dynamics and actuator failure.</p>
-
Vision-based dynamical systems and learning
… the collision avoidance is guaranteed using Lyapunov analysis type of technical arguments and illustrated using simulations. In the second part of this dissertation, a formal methodology for describing and designing activation functions in deep neural networks, is provided. The methodology is …
-
NONLINEAR OBSERVER/CONTROLLER DESIGNS FOR SPACECRAFT ATTITUDE CONTROL SYSTEMS WITH UNCALIBRATED GYROS
… are separately developed, then combined. Lyapunov stability analysis is used to demonstrate the stability and convergence properties of each design. First, an observer to estimate gyro bias is developed, both with and without added noise effects. The observer is shown to be exponentially …
-
Reconstructing dynamics from data: Algorithms for the prediction, estimation, and correction of chaotic systems
… methods provide interpretable and meaningful analysis of the system of interest, as is the goal of standard modelling. Motivated by the imperfections of both models and data, this thesis explores methods of reconstructing dynamical systems from observational data to empower novel techniques …
-
Dynamic Neural Network-based Adaptive Inverse Optimal Control Design
… is developed and stabilized based on a control Lyapunov function (CLF). The CLF must satisfy the partial Hamilton Jacobi-Bellman (HJB) equation to solve the cost function in order to prove the optimality. In other words, the control design is derived from the CLF and inversely achieves …