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 15 of 15 for “"Region of attraction"”.
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Passivity-Based Control of Small Unmanned Aerial Systems
… techniques are used to expand the range of autonomous motion of unmanned aerial systems without prohibitively {color{black}increasing the computational cost of the resultant controller}. Passivity-based control presents a method to implement a static, nonlinear state feedback control law …
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Attitude dynamics stabilization with unknown delay in feedback control implementation
This work addresses the problem of stabilizing attitude dynamics with an unknown delay in feedback. Two cases are considered: 1) constant time-delay 2) time-varying time-delay. This is to our best knowledge the first result that provides asymptotically stable closed-loop control design for the …
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Control of a nonlinear underactuated system with adaptation, numerical stability verification, and the use of the LQR Trees algorithm
… though surrounded by an established body of work, has certain limitations when nonlinear adaptive control principles are applied. This thesis applies a nonlinear adaptative controller that avoids many of these limitations using alterations inspired by the control of a similar underactuated …
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Balance control and locomotion planning for humanoid robots using nonlinear centroidal models
… For example, it requires that the robot's center of mass move on a plane and that the robot's contact environment be planar. This thesis presents control and planning approaches using nonlinear low-dimensional models, aimed at mitigating some of the limitations of the LIP. Specically, the …
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Variable horizon model predictive control: robustness and optimality
… Model Predictive Control (VH-MPC) is a form of predictive control that includes the horizon length as a decision variable in the constrained optimisation problem solved at each iteration. It has been recently applied to completion problems, where the system state is to be steered to a closed …
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Modeling, Control, and Hardware Development of a Thrust-Vector Coaxial UAV
… obtained from vehicle testing. The feasibility of manufacturing such a vehicle is assessed through the development of a hardware prototype. Finally, a linear state feedback controller is designed and evaluated using the non-linear dynamics model. The results demonstrate successful validation of …
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Assessment of direct methods in power system transient stability analysis for on-line applications
The advent of synchronized phasor measurements allows the problem of real time prediction of instability and control to be considered. The use of direct methods for these on-line applications is assessed. The classical representation of a power system allows the use of two reference frames: Center …
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Gradient projection anti-windup scheme
… instability. Anti-windup compensation is one of two main approaches to mitigate the effects of windup, and is conceptually and practically attractive. For the idealized case of constrained linear time invariant (LTI) plants driven by LTI controllers, numerous anti-windup schemes exist. …
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Investigation into the stability of low-inertia micro-grids
This work examines the stability of low inertia micro-grids (MGs). The lack of inertia in such power electronics dominated grid is a pressing matter that directly impacts its operation and stability. The investigated MG is formed by power electronics-based DC-AC converters; each of them is …
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Switching observer design, consensus management, and time-delayed control with applications for rigid-body attitude dynamics
… result in theoretical development for the topics of cooperative control, delayed feedback, and state estimation, through the formulation of a novel class of switching observers. In the area of consensus management for cooperative control, the problem of designing torque control laws that …
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Voltage Stability and Control in Autonomous Electric Power Systems with Variable Frequency
… work focuses on the safe and stable operation of an autonomous power system interconnecting an AC source with various types of power electronic loads. The stability of these systems is a challenge due to the inherent nonlinearity of the circuits involved. Traditionally, the stability analysis …
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The constrained discrete-time state-dependent Riccati equation technique for uncertain nonlinear systems
The objective of the thesis is to introduce a relatively general nonlinear controller/estimator synthesis framework using a special type of the state-dependent Riccati equation technique. The continuous time state-dependent Riccati equation (SDRE) technique is extended to discrete-time under input …
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Practical Challenges in the Method of Controlled Lagrangians
The method of controlled Lagrangians is an energy shaping control technique for underactuated Lagrangian systems. Energy shaping control design methods are appealing as they retain the underlying nonlinear dynamics and can provide stability results that hold over larger domain than can be obtained …
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Learning-based optimal and robust control: A policy optimization perspective
… success in domains such as video games, the game of Go, and complex robotic tasks. Central to this success is policy optimization (PO), a subclass of RL where policies—parameterized mappings from observations to actions—are iteratively optimized to enhance system performance. PO’s flexibility, …
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Nonlinear Analysis and Control of Standalone, Parallel DC-DC, and Parallel Multi-Phase PWM Converters
Applications of distributed-power systems are on the rise. They are already used in telecommunication power supplies, aircraft and shipboard power-distribution systems, motor drives, plasma applications, and they are being considered for numerous other applications. The successful operation of …