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 13 of 13 for “"Receding Horizon Control"”.
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Receding Horizon Control: A Suboptimality-based Approach
… and implementational issues of so called receding horizon controllers in a sampled-data setting. The principle of such a controller is simple: Given the current state of a system we compute an open-loop control which is optimal for a given costfunctional over a fixed prediction horizon. …
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Stability Analysis of Unconstrained Receding Horizon Control Schemes
In this thesis we are concerned with receding horizon control (RHC), also known as model predictive control. In particular, schemes which neither incorporate terminal constraints nor costs are considered. Our goal is to ensure a relaxed Lyapunov inequality which allows to conclude asymptotic …
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Trajectory planning for unmanned vehicles using robust receding horizon control
… a good estimate of the path beyond the planning horizon, which is extended in this thesis to account for three dimensional motion; constraint tightening to ensure robustness to disturbances, which is extended to a more general class of disturbance rejection controllers compared to the previous …
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A convex solution to receding horizon control of switched linear systems
… is exactly solved for finite-path-dependent controllers with finite horizon knowledge of future switching modes. Conditions for the existence of both a full-information state-feedback controller and a dynamic output feedback controller are given in the form of finite-dimensional systems of …
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Fast Path Planning in Uncertain Environments: Theory and Experiments
… in the environment. We propose a hybrid receding horizon control path planning algorithm that is based on level-set methods. The hybrid method uses global or local level sets in the formulation of the receding horizon control problem. The decision to select a new level set is made based …
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Computational analysis of real-time convex optimization for control systems
… fundamental for certification of all real-time control software. Nevertheless, analysis of on-line optimization for control has received little attention to date. On-line software must pass rigorous standards in reliability, requiring that any embedded optimization algorithm possess predictable …
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Real-time trajectory optimization and air traffic control simulation for noise abatement approach procedures
… optimization algorithm and an Air Traffic Control simulation model that can minimize the aircraft approach noise and meet air traffic control targets and restrictions. The adaptive real-time optimization algorithm uses dynamic programming, nonlinear optimization, and receding horizon …
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Model Predictive Control of a Nonlinear Aeroelastic System Using Volterra Series Representations
… of using a Volterra-based Model Predictive Control strategy to control a nonlinear aeroelastic system. Model Predictive Control (MPC), also known as Receding Horizon Control (RHC), entails computing optimal control inputs over a finite time horizon, applying a portion of the computed optimal …
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Optimal arrival time and airspeed selection in the presence of wind uncertainty
… from both Stochastic Programming (SP) and Receding Horizon Control (RHC) schemes, enabling the determination of the optimal airspeed selection for each segment or the flight route. The study introduces two innovative models: the model with "k-segment look-ahead", designed to optimize …
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A new guidance trajectory generation algorithm for unmanned systems incorporating vehicle dynamics and constraints
… generation algorithm for autonomous guidance and control of unmanned vehicles from a given starting point to a given target location. We build and update incomplete a priori maps of the operating environment in real time using onboard sensors and compute level sets on the map reflecting the …
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Human and automatic control interaction with a remotely piloted vehicle
… study on the performance of humans and automatic controllers in a general remote navigation task. The remote navigation task is defined as driving a vehicle with nonholonomic kinematic constraints around obstacles toward a goal. We conducted experiments with humans and automatic controllers; in …
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A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay
… designed to aid in the study of various controllers performing obstacle avoidance tasks in the presence of delay. The simulator is divided into functional blocks, each of which is described in detail. Several controllers were developed and their performance analyzed using the simulator. …
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Hierarchical Scheduling and Utility Disturbance Management in the Process Industry
This thesis deals with control of production at large-scale process industrial sites in the presence of disturbances. The main focus is on disturbances in the supply of utilities such as steam, cooling water and electricity. A general method for reducing the revenue loss due to disturbances in …