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 23 for “"Nonlinear Model Predictive Control"”.
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Formal analysis of state estimation for nonlinear model predictive control
… methods when implemented in the formulation of nonlinear model predictive control. The analysis is facilitated by two nonlinear optimal state estimation methods: augmented state EKF (ASEKF) and augmented state UKF (ASUKF) for comparison purposes. Each state estimation method is coupled to the …
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Real-time Nonlinear Model Predictive Control: Efficient Methods for Domain Reduction
L'abstract è presente nell'allegato / the abstract is in the attachment
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Supervised learning-based explicit nonlinear model predictive control and unknown input estimation in biomedical systems
<p>Application of nonlinear control theory to biomedical systems involves tackling some unique and challenging problems. The mathematical models that describe biomedical systems are typically large and nonlinear. In addition, biological systems exhibit dynamics which are not reflected in the model …
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Rollover prevention and path following of a scaled autonomous vehicle using nonlinear model predictive control
… is to develop a yaw-rate and rollover stability controller of an Autonomous Scaled Ground Vehicle (ASGV) using Nonlinear Model Predictive Control (NMPC). Open Source Software (OSS) known as Automatic Control and Dynamic Optimisation (ACADO) is used to design and simulate the NMPC controller based …
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Application of robust nonlinear model predictive control to simulating the control behaviour of a racing driver
… in this research aims to develop a mathematical model which 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 …
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Adaptive-Optimal Control of Spacecraft near Asteroids
<p>Spacecraft dynamics and control in the vicinity of an asteroid is a challenging and exciting problem. Currently, trajectory tracking near asteroid requires extensive knowledge about the asteroid and constant human intervention to successfully plan and execute proximity operation. This work aims …
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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 …
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Real-Time Optimization for Large Scale Nonlinear Processes
… methods for the real-time solution of optimal control problems arising in nonlinear model predictive control (NMPC) are presented, and their contraction properties are investigated theoretically. The practical applicability of the methods is demonstrated in an experimental application to a real …
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Standing Balance of Legged Robots: Leveraging Reduced Order Models to Improve Balancing Performance
… robots through the development of a new unified model that incorporates three main fixed base balancing strategies of ankle, hip, and variable height. To evaluate model performance and the role of each strategy, we compared this proposed model to the existing models in push recovery simulations …
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Lateral stability analysis and MPC tracking control for articulated heavy vehicles
… the dynamic stability. Therefore, to design controllers for improving the stability of AHVs, the trade-off between the static and dynamic instabilities is a necessary research topic. To analyze this trade-off, three different trailer payload schemes and two different tractor rear axle …
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Pinning control of disease networks
The modelling of contagion spread on contact networks provide valuable insights to epidemiologists and policymakers trying to control and eradicate diseases. This thesis proposes, implements and analyses a methodology for inserting disease contact networks of HIV into feedback control loops and …
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Dynamic response and maneuvering strategies of a hybrid autonomous underwater vehicle in hovering
… maneuvering in surge and heave. An analytical model was developed to describe the complex nonlinear vehicle dynamics, and experiments were performed to refine this model. The fluid dynamics of unsteady azimuthing marine propulsors are largely unstudied, especially for small vehicles like the …
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Theoretical and Experimental Investigation of Attitude Control for Underactuated Spacecraft
… thesis investigates the detumbling and attitude control capabilities of an underactuated 3U-CubeSat used for ESSENCE mission developed by York University. Three different types of actuatorsexternal thrusters, magnetorquers, and reaction wheelsare considered in the nonlinear rigid-body control …
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Development of a nonlinear predictive control algorithm and its application to flotation
… first is the development of a method of solving nonlinear optimal control problems. This method is then used to solve the underlying optimal control problems. This method is then used to solve the underlying optimal control problem in a nonliear model predictive control (NMPC) strategy. By way of …
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Methods Of Distributed And Nonlinear Process Control: Structuredness, Optimality And Intelligence
Chemical processes are intrinsically nonlinear and often integrated into large-scale networks, which are difficult to control effectively. The traditional challenges faced by process control, as well as the modern vision of transitioning industries into a smart manufacturing paradigm, requires the …
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Efficient Identification and Control Methods For Nonlinear Systems Under Uncertainty
… processes that can benefit from advanced modeling, estimation, and control methods. Traditional linear methods can be applied to these systems, but this generally results in sub-optimal control. This dissertation presents new estimation, modeling, and control methods that address process …
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Discrete-time Contraction Analysis and Controller Design for Nonlinear Processes
… smart plants). This warrants the development of control systems for nonlinear chemical processes to be capable of tracking time-varying setpoints to produce products with different specifications as per market demand and deal with variations in the raw materials and utility (e.g., energy). This …
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Numerical Methods for Parameter Estimation and Optimal Control of the Red River Network
… the parameter estimation, and the optimal control of the Red River system are presented. The model of the Red River system is based on the Saint-Venant equation system, which consists of two nonlinear first-order hyperbolic Partial Differential Equations (PDE) in space and in time. In …
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Adaptive Predictive Controllers for Agile Quadrupedal Locomotion with Unknown Payloads
… pose significant challenges, requiring adaptive control strategies to ensure stability and performance. This dissertation contributes to the advancement of adaptive motion planning and control solutions that enable quadrupedal robots to traverse unknown rough environments while tasked with …
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Design and application of advanced control methods to gas turbines and networked systems
… deals with the design and application of modern control techniques to a Rolls Royce aircraft gas turbine engine and networked systems. It is motivated by the need to fully exploit recent advances in control engineering and investigate the suitability of various control methods to gas turbine …
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