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 20 of 35 for “"Settore ING-INF/04 - Automatica"”.
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Development of a research vehicle able to perform autonomous manoeuvres
Autonomous driving is an important research field and presents several problems with different nature and complexity. The goal of this work is describing such problems and the concerning solutions adopted while developing an experimental vehicle designed to autonomously perform some manoeuvres …
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Approximate Explicit MPC and Closed-loop Stability: Analysis based on PWA Lyapunov Functions
… on-line, which is the main limitation when dealing with hard real-time applications. As the implicit MPC algorithm cannot be guaran- teed in terms of execution time, in many applications the explicit MPC solution is preferable. In order to deal with systems integrating mixed logic and dynam- …
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Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems
… nonlinear blocks; a play/stop operator, a switching-reset mechanism, and an adaptive dead-zone. This setup resembles the Lure problem studied in the absolute stability framework, but the types of nonlinearities considered here do not satisfy (in general) a sector condition. These nonlinear blocks …
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Hybrid Control For Aerospace Systems
… makes them particularly powerful for both describing and synthesizing complex dynamical behaviors. In this work we exploit this capability for designing innovative control and estimation algorithms that cope with challenges in aerospace applications. In particular: 1. we propose different …
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Design and Test of an Automotive Clutch Actuation
… system very complex. The system was modeled using the Bond-Graph technique which allowed the drafting of the dynamical system equations, in state space form. In fact the system itself is quite complex due to the fact that multiple dynamic domains were taken into account. The result is a unique …
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A convex relaxation approach to set-membership identification
… measurement noise is not available and the only information on such an error is that its amplitude or energy is bounded. In the framework of Set-membership identification, the result of the estimation process is the set of all system parameter values consistent with measured data, assumed model …
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Proprietà Strutturali degli Zeri per Sistemi Matriciali del Secondo Ordine: Teoria e Applicazioni
… direzioni vettoriali di zero associate agli ingressi ed alle uscite.
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Nonlinear Model Predictive ControlFast Algorithms and Implementation
… technique, substantially, allows to avoid solving the optimization problem on-line at each sample time. The control move is computed by means of a set of pre-computed solutions to the optimization problem for a given number of different system state values. This approach is potentially …
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Model-based and data-based frequency domain design of fixed structure robust controller: a polynomial optimization approach
L'abstract è presente nell'allegato / the abstract is in the attachment
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Cooperative Hoisting with Dual Crawler Cranes: Modeling, Motion Planning, and Control under Constraints
With the rapid development of large scale infrastructure construction and industrial assembly such as wind turbine installation, bridge segment erection, and modular plant construction dual crawler cranes (DCCs) have become essential equipment for handling oversized and heavy loads. Their …
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Opacity Verification and Fault Diagnosis in the Framework of Switching Output Automata
… capture event sequences but lack native timing semantics, while dense-time formalisms such as timed automata face undecidability or prohibitive complexity for verification tasks involving both timing constraints and partial observability. This dissertation introduces the Switching Output …
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State Estimation of Timed Discrete Event Systems and Its Applications
… cause transitions from one state to another. Timing introduces an additional dimension to DES modeling and control. This dissertation provides two models of timed DES endowed with a single clock, namely timed finite automata (TFA) and generalized timed finite automata (GTFA). In addition, a …
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Fault Diagnosis of Discrete Event Systems Under Sensor Attack
… performance grow, systems are built with increasing size and complexity, which significantly raises the likelihood of system disruptions. In this thesis, we consider two possible sources of major disruptions, i.e., component faults and cyber attacks. A component fault is an indigenous activity …
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A Service Robot for Navigation Assistance and Physical Rehabilitation of Seniors
The population of the advanced countries is ageing, with the direct consequence that an increasing number of people will have to live with sensitive, cognitive and physical disabilities. People with impaired physical ability are not confident to move alone, especially in crowded environment and for …
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Adaptive Brake By Wire: From Human Factors to Adaptive Implementation
The introduction of the Brake By Wire is replacing the traditional mechanical control systems with ECUs and it is raising the need to reproduce feelings of eliminated static mechanical components (i.e. hydraulic fluids, pumps and cylinders). Thanks to electromechanical actuators and human-machine …
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Safe Model Predictive Control for Robotic Manipulation and Locomotion
In last decades, robots have been increasingly used in a wide range of fields, including industrial automation and emerging applications from logistics to healthcare, agriculture and home assistance. Safe and high-performance control of robots is a crucial aspect of their deployment. Many …
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Consensus Algorithms for Estimation and Discrete Averaging in Networked Control Systems
… of agents whose pattern of interactions or couplings is described by a graph. Consensus problems in multi-agent systems consist in the study of local interaction rules between the agents such that as global emergent behavior the network converges to the so called "consensus" or "agreement" state …
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Graph methods in Multi Agent Systems Coordination and Social Network Analysis
… of all the presented problems is the following: all the system are represented by graphs. Two are the main contributions of the first part. • A formation control strategy, based on gossip, which leads a set of autonomous vehicles to converge to a desired spatial disposition in absence of a …
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Robots learn to behave: improving human-robot collaboration in flexible manufacturing applications
L'abstract è presente nell'allegato / the abstract is in the attachment
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Mathematical modeling and control of epidemics as decision support systems to steer effective public health policies
L'abstract è presente nell'allegato / the abstract is in the attachment
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