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 20 for “"State Constraints"”.
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Fast execution of temporal plans with mixed discrete-continuous state constraints
… in light of the task requirements and system states. Communications networks, for example, plan routes and allocate bandwidth resources over time for different communication activities, while respecting through-put, delay, loss, and deadline constraints. However, existing approaches use simple …
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Optimal Dirichlet boundary control problems of high-lift configurations with control and integral state constraints
Diese Arbeit behandelt Optimalsteuerungsprobleme mit Navier-Stokes Gleichungen. In dieser Arbeit haben wir zwei Optimalsteuerungsprobleme untersucht, die die Umströmung von Tragflügeln in Hochauftriebskonfigurationen betrachten. Im stationären Fall, möchten wir den Auftrieb maximieren während der …
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Enhancing AutoMPC for efficient offline optimal control of robots through state constraints, improved system identification models and trajectory tracking controllers
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-05-01
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Guidance and control using model predictive control for low altitude real-time terrain following flight
… accomplished through the establishment of hard state constraints. These state constraints create a 'safe envelope' within which the optimal trajectory can be found. Results over a variety of sample terrains are provided to investigate the sensitivity of tracking performance to nominal …
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Terminal transient for minimum-time dash mission
… three stages; a climb to the dash point,a steady-state dash at the high velocity point, and finally, a terminal transient from the dash point to the final state. This terminal maneuver evolves outside of the flight envelope, rapidly decreasing altitude while increasing the velocity to values …
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Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems
… sets of equilibria, hybrid omega-limit sets, and state constraints. Throughout the thesis, we use the hybrid systems formalism to describe these phenomena and to analyze these loops. We obtain sharp stability conditions that can be formulated as linear matrix inequalities, thus verifiable with …
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On the Sample Complexity of Imitation Learning for Smoothed Model Predictive Control
… especially in the presence of input and state constraints. We show how such a smoothed expert can be designed for a general class of systems using a log-barrier-based relaxation of a standard Model Predictive Control (MPC) optimization problem. Our principal theoretical contributions …
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A* Node Search and Nonlinear Optimization for Satellite Relative Motion Path Planning
… time or fuel, while adhering to complex path and state constraints. This paper develops an efficient solution method capable of handling complex constraints based on a grid search A* algorithm and compares solution results against a state-of-the-art nonlinear optimization method. Trajectories are …
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Constraining credences
… 2007, and EDGINGTON 2008. In Chapter 2, I state constraints on what credence constitutes a perfect compromise between agents who have different credences in a proposition. It is sometimes taken for granted that disagreeing agents achieve a perfect compromise by splitting the difference in …
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Development of a nonlinear predictive control algorithm and its application to flotation
… control problems, including problems with constraints on the control trajectory, and terminal state constraints. An important aspect of this solution method is that it produces a continuous control trajectory over the entire solution horizon. The use of this optimal control problem in the …
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Model-based planning through constraint and causal order decomposition
… is able to solve complex planning problems with state constraints and temporally extended goals. Such complex system behavior is specified as concurrent, constraint automata (CCA) that provide the expressiveness necessary to model the behavior of the system components and their interactions. The …
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Motion Planning and Robust Control for Nonholonomic Mobile Robots under Uncertainties
… due to taking both nonholonomic and uncertainty constraints into account simultaneously. As a result, none of the conventional nonholonomic motion planning can be directly applied. The control problem is even more challenging since state constraints posed by obstacles in the environments must …
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Modern control methods for chemical process systems
… methods due to its ability to seamlessly handle constraints. However, limitations in industrial MPC technology spurred significant research over the past two to three decades in the search of increased capability. For these advancements to be widely implemented in industry, they must adequately …
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Optimal Control Problems Governed by Nonlinear Partial Differential Equations and Inclusions
… (PDE) and inclusions (PDI). There exist statements on the existence of solutions for optimal control problems with linear and semi-linear PDEs with monotone parts. The theory for non-monotone PDEs resp. the related optimal control problems is, to the author’s knowledge, incomplete …
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Energy-efficient control of a smart grid with sustainable homes based on distributing risk
… of a given cost function with chance constraints, which bound the probability of failure to satisfy given state constraints. Although these technologies provide promising capabilities, they cannot contribute to sustainability unless they are accepted by the society. In this thesis we …
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The constrained discrete-time state-dependent Riccati equation technique for uncertain nonlinear systems
… 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 and state constraints, yielding constrained (C) discrete-time (D) SDRE, referred to as …
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Dynamic execution of temporal plans with sensing actions and bounded risk
… within risk bounds (also referred to as chance constraints). By being conditional, the plan allows the autonomous agent to adapt to its environment in real-time by conditioning the choice of activity to be executed on the agent's current level of knowledge, or belief, about the true state of …
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Generative multi-robot task and motion planning over long horizons
The state of the art practice in robotics planning is to script behaviors manually, where each behavior is typically precomputed in advance. However, in order for robots to be able to act robustly and adapt to novel situations, they need to be able to plan sequences of behaviors and activities …