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 47 for “"Model Predictive Controller"”.
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Design and control of an active ankle-foot orthosis
… and estimate the error in the dynamics model. Second, a nonlinear model predictive controller is presented to track the ankle trajectory while reducing assistance to the user. The adaptive extended state observer can identify the AAFO and ankle joint parameters. The nonlinear model …
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New modeling and control solutions for integrated microgrid system with respect to thermodynamics properties of generation and demand
… and demand. First, a new integrated microgrid model is introduced. This model consists of a combined cycle power plant, a building with air-conditioning system and a renewable source. This integrated model allows researchers to study microgrid stability while considering the physical behaviors …
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Integration of Extremum Seeking and Model Predictive Control for Discrete Time Systems
… algorithm that adjusts set-points provided to a model predictive controller for a vapour compression system. While perturbation-based extremum seeking methods have been known for some time, they suffer from slow convergence rates---a problem emphasized in application by the long time constants …
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Structuring Optimal Control of Legged Locomotion with Learning-based Methods
… for solutions robust to noise and errors in the model parameters. This work explores how optimal control methods can be guided and structured by using data-driven techniques such as supervised learning and Bayesian optimization. Two case studies are presented. The first presents a model …
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Model predictive control for terminal area energy management and approach and landing for a reusable launch vehicle
… The research has since evolved into the use of model predictive control theory. The main focus of this thesis is the theory and design of model predictive control for entry of aerospace vehicles. The goal is to develop design criteria and guidelines explaining how to select the model predictive …
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Aplicação de controlador NMPC em uma unidade offshore de produção de óleo e gás
In this work a nonlinear model predictive controller (NMPC) applied to an offshore petroleum production facility is presented. The facility was simulated using Hysys dynamic simulation, and the used NMPC controller with phenomenological mathematical model was the BRNMPC. Some comparisons were …
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Model predictive control of a thermoelectric-based heat pump.
… heat pump for both heating and cooling. A model predictive controller (MPC) is designed, implemented and tested to optimize the operation of the thermoelectric heat pump. The model predictive controller is chosen due to its ability to accept multiple constrained inputs and outputs as well …
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Physical Modeling and Control of Low Temperature Combustion in Engines
The topic of this thesis is model-based control of two combustion engine concepts, Homogeneous Charge Compression Ignition (HCCI) and Partially Premixed Combustion (PPC), using physics-based models. The studied combustion concepts hold promise of reducing the emission levels and fuel consumption of …
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Offroad autonomous vehicle development and model-based adaptive robust control strategy
… changing slopes, and high vibration levels. Model-based controllers have the potential to improve control performance in challenging off-road scenarios significantly. Preliminary work focused on simulator development and control architecture design for an electric vehicle prototype. Motivated …
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Optimal control of controllable switched systems
… stability or performance to offer practical controllers. In [13], it is shown that stabilizing, practical controllers with meaningful performance guarantees can be constructed for a specific class of hybrid systems by parameterizing the controller actions by a finite set. We extend this …
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Autonomous Autorotation of a Tilt-Rotor Aircraft Using Model Predictive Control
… significantly more challenging. In this work, a model predictive controller is developed to autonomously maneuver and land a tilt rotor given complete power loss. A high fidelity model of a tilt rotor vehicle is created and used to simulate the vehicle dynamics and response to control inputs. A …
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Control of spacecraft in proximity orbits
… classes of missions rely on accurate dynamics models for fuel minimization and observance of strict constraints for preventing collisions and achieving mission objectives. This thesis presents improvements to spacecraft dynamics modeling, orbit initialization procedures, and failsafe trajectory …
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Cooperative Payload Transportation by UAVs: A Model-Based Deep Reinforcement Learning (MBDRL) Application
We propose a Model-Based Deep Reinforcement Learning (MBDRL) framework for collaborative paylaod transportation using Unmanned Aerial Vehicles (UAVs) in Search and Rescue (SAR) missions, enabling heavier payload conveyance while maintaining vehicle agility. Our approach extends the single-drone …
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Simulation of human motion data using short-horizon model-predictive control
… they are difficult to control. We present a model-predictive controller that yields natural motions by guiding simulated humans toward real motion data. During simulation, the predictive component of the controller solves a quadratic program to compute the forces for a short window of time …
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Constant Time Delay Leader Following for Mobile Robots by using Model Predictive Control Tuned on Estimation Uncertainties
… leader-follower system: the estimator and the controller. Di erent from previous works on constant time delay leaderfollower systems, where the two components are designed relatively independently, we propose a design that connects the two components by having a model predictive controller …
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Integral Quadratic Constraints and Safety Certificates for Uncertainty Characterization and Control Safety-Aware Filtering of Proximity Operations Between Satellites
… stability and robust performance of a satellite controller that considers six-dimensional, uncertain state, and often unmodeled dynamics during rendezvous and proximity operations, and (2) to explore the synthesis of control Lyapunov/barrier functions (CLFs/CBFs) using neural networks and …
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