Global ETD Search
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Showing 1 to 7 of 7 for “"Saturation Constraints"”.
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Control of linear switched systems using state feedback with saturation constraints
… performance criterion, incorporating actuator saturation constraints into this optimal synthesis. Necessary and sufficient conditions are presented for the existence of a stabilizing static state feedback controller subject to saturation constraints, together with a constructive method to find …
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Proton beam steering control system for high precision radiotherapy at iThemba LABS : an investigation on actuator saturation constraints
… some of the techniques used to deal with constraints with special application to the Proton beam steering control at iThemba LABS. The steering of charged particles occurring in research plants is one of the interests of control systems. In this work an investigation of the algorithm for …
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Towards verifiable adaptive control for safety critical applications
… direct-adaptive control of plants with magnitude saturation constraints on multiple inputs. The algorithm is a non-trivial extension of an existing technique for single input systems with saturation. Boundeness of all signals is proved for initial conditions in a compact region. In addition, the …
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Nonholonomic Control Utilizing Kinematic Constraints of Differential and Ackermann Steering Based Platforms
… solutions. In the first phase of this work, saturation constraints based on differential drive kinematics are added to ensure that the vehicle behaves intuitively and does not exceed user defined limitations. A new strategy for mapping commands back into a viable envelope is introduced, and …
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Wireless mosaic eyes based robot path planning and control. Autonomous robot navigation using environment intelligence with distributed vision sensors.
… that complies with the robot's nonholonomic constraints for trajectory generation and motion control is introduced to generate real time robot motion commands to navigate the robot from its current position to the target position. A rolling window optimisation mechanism subject to control …
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Gradient projection anti-windup scheme
It is a well-recognized fact that control saturation affects virtually all practical control systems. It leads to controller windup, which degrades/limits the system's closed-loop performance, and may cause catastrophic failures if it induces instability. Anti-windup compensation is one of two main …
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Design and application of advanced control methods to gas turbines and networked systems
… of the gas turbine engines, the rate limiter and saturation constraints on the fuel feed, the aim is to illustrate the potential of a global nonlinear controller to cover the engine operating range. Several nonlinear control methods, gain-scheduling PID controller, approximate model predictive …