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 7 of 7 for “"Passivity-based control"”.
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Passivity Based Control of Biped Robots
Made available in DSpace on 2017-07-06T18:42:27Z (GMT). No. of bitstreams: 3 Bhatia_Gagandeep_S_MS.pdf: 53211686 bytes, checksum: 5cfc575123a9339aa4081c17dc153260 (MD5) Bhatia_Gagandeep_S_MS_ABS.pdf: 595231 bytes, checksum: a4d593e392b057308a22432f921ff584 (MD5) license.txt: 4813 bytes, checksum: …
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Passivity-Based Control of Small Unmanned Aerial Systems
… the computational cost of the resultant controller}. Passivity-based control presents a method to implement a static, nonlinear state feedback control law that stabilizes the motion of an aircraft with a large region of attraction. {color{black} The energy-based control scheme is applied …
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Passivity based control in software systems: example and case studies
In this thesis, we use passivity theory as an approach for dealing with dynamical systems, and demonstrate how to apply it to software systems in a general way. We first cover key results from passivity theory. Then, using an example, simulated system, we demonstrate how to design a controller …
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A Microgrid Architecture With Multiple-Input DC/DC Converters: Applications, Reliability, System Operation, and Control
… to the proposed architecture operation and control are analyzed. Multiple-input converter power budget equations are derived and verified through simulations and experiments. Issues in distributed architectures, such as autonomous control, and fault detection and mitigation are also …
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Design and Optimisation of Virtual Mechanism Controllers With Applications in Robotic Surgery
The challenge of robot control design remains central to enabling safe, effective, and intuitive robotic systems. This thesis explores virtual mechanism control, a structured approach to designing robot controllers using virtual mechanical components. This method offers advantages in simplicity of …
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Energy Shaping Control for Stabilization of Interconnected Voltage Source Converters in Weakly-Connected AC Microgrid Systems
… Dirac composition in Port-Hamiltonian systems, passivity in physical systems, eigenvalue analysis and robust analysis based on the edge theorem for parametric uncertainty. The novel stability theorem aims to prove that all members of the classes of voltage source converter-based microgrid …
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Adaptive robust interaction control for low-cost robotic grasping
… grasp maintenance refers to the reaction of the controller in the presence of external disturbances, trying to prevent any undesired slippage. To do so, the controller continuously adjusts the grip force. This is a challenging task as it requires an accurate model of the friction and object’s …