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 “"MPC control"”.
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INDOOR ENVIRONMENTAL QUALITY (IEQ) AND BUILDING ENERGY OPTIMIZATION THROUGH MODEL PREDICTIVE CONTROL (MPC)
… systematic approach to apply Model Predictive Control (MPC) to improve energy efficiency and indoor environmental quality in office buildings. Model predictive control is one of the advanced optimal control approaches that use models to predict the behavior of the process beyond the current …
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Linear-time invariant Positive Systems: Stabilization and the Servomechanism Problem
… (LTI) systems using state feedback control, along with providing an algorithm for constructing such a stabilizing regulator. Moreover, the results on stabilization also encompass the two problems of the positive separation principle and stabilization via observer design. The second, …
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Nonlinear Model Predictive ControlFast Algorithms and Implementation
… efficient implementation of a Model Predictive Control (MPC) algorithm is addressed in this dissertation. The nominal problem formulation for the MPC control law involves the solution, for each sample time, to an optimization problem that is, in general, nonlinear and hard to be solved. The …
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Optimization-based control and planning for highly dynamic legged locomotion in complex environments
… optimization-based method can be applied in the control and planning of highly dynamic legged motions to address the locomotion problem in complex environments. Specifically, this work first describes the design synthesis of a small and agile quadrupedal robot \panther. Based on the quadruped …
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Improving the use of commercial building HVAC systems for electric grid ancillary services
… the use of dynamic modeling, model predictive control, and energy storage scaling techniques. First, a model of a representative VAV system is built using Modelica and simulated to characterize the system's performance while providing reserve and regulation ancillary services. It is found that …
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Application of robust nonlinear model predictive control to simulating the control behaviour of a racing driver
… can replicate the behaviour of a racing driver controlling a vehicle at its handling limit. Most of the models proposed in the literature assume a perfect driver. A formulation taking human limitations into account would serve as a design and simulation tool for the automotive sector. A …
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Advanced Linear Model Predictive Control For Helicopter Shipboard Maneuvers
… 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 into account …
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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 …