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 “"Path Tracking"”.
-
Hierarchical rule-base reduction fuzzy control for variable velocity path tracking
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms
-
Analysis of Transient and Steady State Vehicle Handling with Torque Vectoring
… architectures and control capabilities. Path Tracking controllers that provide steering input are used to execute lateral maneuvers or model the response of a vehicle during cornering. Direct Yaw Control using Torque Vectoring has the potential to improve vehicle's transient cornering …
-
Improving Leader-Follower Formation Control Performance for Quadrotors
… Quadratic Regulator (iLQR), to stabilisation, path tracking and leader-follower team formation control problems. Existing solutions for stabilisation, path tracking and leader-follower team formation control have addressed a linear or nonlinear control technique for a linearised system with …
-
Offroad autonomous vehicle development and model-based adaptive robust control strategy
… of environmental disturbances in off-road path-tracking control. First, vehicle dynamics were identified using Dynamic Mode Decomposition with Control (DMDc) to enable model-based control, with noise reduced by a Savitzky–Golay filter. The identified model was validated against a Least …
-
Three-dimensional displays for commercial aircraft: A theoretical and empirical evaluation
… view. Performance measures include flight path tracking accuracy during routine flight and during events designed to precipitate the loss of situational awareness, accuracies and response times to three different judgment events designed to evaluate the applicability of the Compatibility …
-
The two faces of mobile sensing
… I take handwriting input and indoor walking path tracking as examples, and show how we design effective mobile sensing techniques and also investigate their potential threats following MSAA. I design an audio-based handwriting input method for tiny mobile devices, which allows users to input …
-
May the force be with you : a medical ultrasound system with integrated force measurement
… more effective than haptic feedback for force tracking, but at expense of ultrasound path tracking. Lastly, two methods of data synchronization of the acquired force data and ultrasound images are considered. A three tap software synchronization method is a feasible alternative when hardware …
-
Development of technologies for low-cost oceanographic unmanned aeronautical vehicles
… measurement of optimality.<br/>Two novel path tracking algorithms have been presented. The first controls the derivative of heading rate to command an achievable trajectory. The second controls the aircraft's closing speed on the path by adjusting bank angle. The latter algorithm achieved …
-
Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.
… computational complexity of planning a flight path, while respecting various aerial or ground restrictions. The sensor-based area decomposition also facilitates a team-wide heterogeneous solution for any team of aerial vehicles. Then, it proposes a novel algorithmic approach of partitioning any …
-
Modeling and Control of the UGV Argo J5 with a Custom-Built Landing Platform
… and implement several navigation controllers for path tracking and dynamic self-leveling of the Argo J5 Unmanned Ground Vehicle (UGV) with a custom-built landing platform. The overall model is derived by combining the Argo J5 driveline system with the wheelsterrain interaction (using …
-
Torque Accuracy Improvement Via Explicit Torque Feedback Control For Internal Combustion Spark Ignition Engines
… an approach does not guarantee optimum torque tracking accuracy and optimum estimation accuracy due to air flow and efficiencies estimations errors. Furthermore, current approach overlooks the fast torque path tracking which does not have any related feedback. Recently, explicit torque feedback …
-
Agent-based ethical decision-making control optimization framework for self-driving vehicles
… used to motivate the different weightings of path tracking, obstacle avoidance, and traffic regulation compliance. The consequences of different design decisions made in a model predictive steering controller are highlighted by simulation results of a self-driven vehicle negotiating an …
-
Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge
… that effectively performs trajectory or path tracking. Though ample literature is available on various methods for controlling ground vehicles, little information is presented on the implementation and tuning of such controllers. Moreover, few sources extend ground vehicle control to …
-
Categories in control systems software: toward a unified theory of programming & control
… is made to analytical results, and (2) NMPC path tracking of a mobile robot with obstacle avoidance through soft constraint.
-
Optimal Control of Multiple Quadrotors for Transporting a Cable Suspended Payload
… MPC and the dynamic game controller to solve tracking control problems in terms of stabilisation, accuracy, constraints and collision avoidance. The LQR control was applied to the system as the first control method and compared with the classical Proportional-Derivative controller PD. It was …
-
Particle Filtering and Optimal Control for Vehicles and Robots
… and out-of-sequence measurements (OOSMs) in tracking systems. The motivation for this is that with technological development and exploitation of more sensors in tracking systems, OOSMs gain more significance in various applications. The thesis derives a Bayesian formulation of the OOSM …
-
Topics in Machining with Industrial Robot Manipulators and Optimal Motion Control
… of a robot manipulator in high-performance path tracking is developed, and the architecture is evaluated in extensive simulations. The main characteristic of the control strategy is that it combines coordinated feedback control along both the tangential and transversal directions of the …
-
Test platform design and control of a bicycle-type two-wheeled autonomous vehicle
… were applied to simulate the balance and path tracking control. A PID controller is more practical to replace the non-linear controller for the balance control. Simulation results of the di erent controllers are compared in order to decide the proper control strategies on the hardware …
-
Joint Communication, Control, and Learning for Connected and Autonomous Vehicles
… non-coordinated CAVs when performing autonomous path tracking. In particular, the maximum time delay requirements are derived to guarantee the stability of the controller when tracking two typical road scenarios (i.e., straight line and circular curve). Tools from optimization theory and risk …
-
Development of innovative transducers based on Magnetic Fluids
… controlled by an array of electromagnets, and a path tracking system, in which a mass is moved along a pre-defined path by a matrix of electromagnets. The implementation toward integrated device is nowadays of paramount importance in the development of novel systems and transducers. The devices …
Page 1 of 2