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 8 of 8 for “"Robust Model Predictive Control"”.
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Adaptive robust model predictive control for nonlinear systems
Modeling error and external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation by optimizing over control policies but at the expense of computational complexity. An alternative strategy, known as …
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Machine Learning Modeling and Robust Model Predictive Control of a Wind Turbine
… for large-scale wind turbines, demand on control systems is significantly increased. Control systems improve the capability of the turbine to efficiently capture wind energy and increase its lifespan. The aim of this research is to develop a comprehensive model-based controller for a wind …
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Efficient Imitation Learning for Robust, Adaptive, Vision-based Agile Flight Under Uncertainty
Existing robust model predictive control (MPC) and vision-based state estimation algorithms for agile flight, while achieving impressive performance, still demand significant onboard computation, preventing deployment on robots with tight Cost, Size, Weight, and Power (CSWaP)constraints. The …
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Robust trajectory planning for unmanned aerial vehicles in uncertain environments
… to overcome environmental uncertainties such as modeling errors, external disturbances, and an incomplete situational awareness. By utilizing planners which can autonomously navigate within such environments, the cost-effectiveness of UAV missions can be dramatically improved.This thesis develops …
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Optimization over networks: Efficient algorithms and analysis
… we provide simulation results on a distributed robust model predictive control problem. In the second part of the thesis, we discuss an efficient epoch gradient descent algorithm for obtaining fast and exact solutions of linear support vector machines (SVMs). SVMs penalized with the popular …
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Integration of quality-by-design into control systems design for continuous pharmaceutical manufacturing
… a unit-by-unit approach is employed. Because control loops tend to have a linearizing effect on processes, design spaces for closed-loop processes can often be calculated using low-order Taylor series approximations, resulting in simpler expressions for the full design space (e.g. polytopes). …
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Offroad autonomous vehicle development and model-based adaptive robust control strategy
… driven by advancements in sensing and control technologies. To operate reliably under severe off-road conditions, a robust and adaptable off-road platform is essential. Off-road environments, in particular, present unique challenges, including low traction, uneven terrain, rapidly …
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Robust Predictive Control for Legged Locomotion
… aims to realize the goal of developing robust control solutions that can enable legged robots to navigate complex unknown environments. The idea of creating articulated-legged machines that can mimic animal locomotion has fueled the imagination of many researchers. These legged robots …