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 20 of 21 for “"Model-based controller"”.
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Implementation and performance analysis of a model-based controller on a batch pulp digester
… between consecutive cooks. This makes a model-based approach to control attractive. Due to the age of the industry, many legacy controllers are in place on digesters around the world. The theoretical variance obtained by Monte Carlo modelling of a new controller is used as a benchmark for …
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A Low Cost Multi-Agent Control Approach for Building Energy System Management
… software programming, etc.) cost. In particular, modeling of building energy systems is a challenging task due to the internal complexities, which poses an important barrier for model-based controller designs in buildings.
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Policy search approaches to reinforcement learning for quadruped locomotion
… dynamics and directly program the most efficient controller. This thesis combines these two approaches by integrating a model-based controller approach with reinforcement learning to develop an effective walk for a quadruped robot. We then evaluate different policy search approaches to …
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Bio-inspired pressure sensing for active yaw control of underwater vehicles
… orientations, and that a basic proportional controller is capable of keeping the vehicle aligned with the direction of flow. We propose that a model based controller could be developed to improve system response. Toward this, we derive a vehicle model based on a first-order 3D Rankine Source …
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Design and Control of Quasi-direct Drive Actuation for Lightweight and Versatile Wearable Robots
… physical capabilities of humans under community-based conditions are the new frontier of robotics. Furthermore, the design and control are still considered to be grand challenges for providing physical augmentation for humans. In terms of design, the state-of-the-art exoskeletons are typically …
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Design synthesis of car-trailer systems with active trailer differential braking strategies.
To this date, various control strategies based on linear vehicle models have been proposed and developed for improving the lateral stability of car trailer (CT) systems. Is a linear-model-based controller applicable to active safety systems for CT systems under emergency operating conditions, such …
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Model-based nonlinear control of active tilting-pad bearings
… the dissertation, we develop a nonlinear dynamic model of the active bearing system. The hydrodynamic force produced by the fluid film is modeled as a nonlinear, squeeze-film damper plus repellent spring. A model-based nonlinear controller is then designed to exponentially regulate the rotor …
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Configurable, Coordinated, Model-based Control in Electrical Distribution Systems
… Trace Analysis along with an integrated system model are used to develop algorithms and analysis methods necessary to facilitate the implementation of these new technologies on the electrical distribution system. A penetration limit analysis is developed to analyze the impact of distributed …
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Dynamic modeling and analysis of oscillatory bioreactors
Dynamic modeling of bioreactors is a challenging problem. The complexity of first principle models also make model validation and analysis very difficult and model-based controller design practically intractable. This thesis has focused on finding an effective tool for model dynamic analysis, …
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Identification of electrically stimulated muscle after stroke
… Stimulation is applied, together with the model-based controller in order to ensure that the assistance provided coincides as much as possible with the patient’s voluntary intention. The difficulty encountered is lack of a reliable model of electrically stimulated muscle. Motivated by this, …
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Voltage Stability and Control in Autonomous Electric Power Systems with Variable Frequency
… nonlinear behavior appears. The second approach, based on the Lyapunov direct method, attempts to determine the region of attraction of an equilibrium point, defined by an operation condition. For this a Lyapunov function based on linear matrix inequalities was constructed and tested on a …
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Applied Aerial Autonomy for Reliable Indoor Flight and 3D Mapping
… of the estimation framework with a conventional model-based controller. The estimation of unsteady winds results in improved gust rejection capabilities of the onboard controller as well. Closely related to parameter estimation is system identification. Combining with the previous work a …
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Machine Learning Modeling and Robust Model Predictive Control of a Wind Turbine
… of this research is to develop a comprehensive model-based controller for a wind turbine. To do so, the problem of Robust Model Predictive Control (RMPC) of discrete-time hybrid systems is addressed. A hybrid model of the wind turbine is identified with machine learning techniques and the …
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The development of hard real-time systems using a formal approach
… thesis adapts these techniques for use in the modelling, design and formal analysis of hard real-time systems. The techniques are applied to the problem of specifying a controller for a high-speed manufacturing system. It is shown that they can be used to prove liveness and safety properties, …
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Model-Based Control of Gasoline Partially Premixed Combustion
… engine control system. This thesis investigates model predictive control (MPC) of PPC with the use of in-cylinder pressure sensors. Online heat-release analysis is used for the detection of the combustion phasing and the ignition delay that function as combustion-feedback signals. It is shown …
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Non-linear Dynamic Transformer Modelling and Optimum Control Design of Switched-mode Power Supplies
… field for wide-operating range yback converters, based on a low-cost microcontroller. Accurate transformer modelling is a necessary exercise for the study of the yback converters as well as for model-based controller design. Therefore, a non-linear dynamic model, which allows an accurate …
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A REGION-SENSITIVE FUZZY LOGIC CONTROLLER FOR pH
… 1994 and Tan et al., 1996). The advantages of a controller based on fuzzy logic are that it is nonlinear and does not require an analytical model of the process. While fuzzy controller generally outperforms the conventional controller for the highly nonlinear pH process, its performance is not …
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Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls
… is, to a certain extent, a biomimetic solution based on biological walkers. It consists of using elastic cables to actuate a bipedal walking robot, where the motors, which are used for pulling the cables, are attached to the segments that undergo low accelerations (like trunk). </p><p>The main …
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Advanced Control Strategies for Mobile Hydraulic Applications
… from those developed in a time when electronic controllers were slower and less reliable than they are today.</p> <p>This dissertation addresses this aspect and presents a unique control method designed to be applicable to all mobile hydraulic machines controlled by proportional directional …
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