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 18 of 18 for “"Supervisory controller"”.
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A General Framework for Robot Programming Using a Matrix-based Supervisory Controller
… research progresses.Given a decomposed task, the controller permits a user to program that task, in the appropriate sequence, using a primitive library by utilizing matrices. These matrices represent the structure and flow of the task with the added capability of coordinating multiple parallel …
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Torque Architecture For The Propulsion Supervisory Controller Of An Independent Axle All-Wheel Drive Electric Vehicle
… describes the development of the Propulsion Supervisory Controller for an independent axle All-Wheel Drive Electric Vehicle, using a model-based approach. The vehicle has a main rear motor and a smaller front motor. Features like power moding, transmission range selection and torque …
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Supervisory Control of a Commercial Heating, Ventilating, and Air Conditioning System
The MPC supervisory controller generated 'optimal' setpoints for lower-level single-input, single-output controllers to maximally utilize the control system framework currently used in the industry. Two different supervisory controller configurations were developed and compared with the existing …
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Development of a Supervisory Control Unit for a Series Plug-in Hybrid Electric Vehicle
… dSPACE ASM tools, to create a plant model for controller development. A supervisory controller was developed to safely control the interactions between powertrain components. The supervisory control unit was tested using SIL and HIL methodologies. The supervisory controller was developed with …
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POWER CONDITIONING UNIT FOR SMALL SCALE HYBRID PV-WIND GENERATION SYSTEM
… was unavailable. The system contains a local controller for every energy source and the grid inverter. Besides, it contains the supervisory controller. For the wind generator side, small-scale vertical axis wind turbines (VAWTs) are attractive due to their ability to capture wind from …
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Development of a Supervisory Control System as a Transition Technology Towards Autonomous Reactor Plant Operations
… and control systems, directly support autonomous controllers. In these plants, where the need for human operators is already reduced, the introduction of supervisory control systems (SCS) for dynamic operations further lessens operator dependence while building trust in these systems, laying a …
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Design and implimentation of a supervisory safety controller for a 3DOF helicopter
… presents the design and implementation of a supervisory controller for a 3DOF helicopter. This safety critical system is used in undergraduate laboratories in the Department of Aeronautics and Astronautics at MIT. There already exists a framework for designing a supervisory safety controller …
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Predictive energy managament strategy for a parallel hybrid electric vehicle
A novel model-based and predictive energy supervisory controller for hybrid electric vehicles (HEVs) is presented. Its objective is to minimize the fuel consumption (FC) of HEVs using the information on the current state of charge (SoC) of the battery, data available from a standard on-board …
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Semi-autonomous control of multiple heterogeneous vehicles for intersection collision avoidance
This paper describes the design of a supervisory controller (supervisor) that manages multiple heterogeneous vehicles, i.e., multiple controlled and uncontrolled vehicles, to avoid intersection collisions. Two main problems are addressed: verification of the safety of all vehicles at an …
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Application of Functional Safety Standards to the Electrification of a Vehicle Powertrain
… designed for corporations. The hybrid vehicle supervisory controller example within this thesis demonstrates how to define a system and then perform system-level analytical techniques to identify potential failures and associated requirements. Ultimately, through this analysis suggestions are …
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Development of a Series Parallel Energy Management Strategy for Charge Sustaining PHEV Operation
… distributed control strategy includes component controllers for each individual component and a single supervisory controller responsible for interpreting driver demand and determining component commands to meet the driver demand safely and efficiently. For example, the algorithm accounts for a …
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The Development of an Adaptive Control System for a Phase-Locked Excitation (PhLEX) Method for Advanced Wind Turbine Blade Fatigue Testing
… system will integrate the MTS software and controller with a supervisory controller, programmed in Simulink, which utilizes PID control and peak detection. A Simulink model of a wind turbine blade was incorporated for initial control system design. The use of Hardware-ln-the-Loop (HIL) and …
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Controlling the cooperative behavior of a system of autonomous mobile robots
… capability. There is no central or supervisory controller directing the robots. Each robot must be able react to its environment autonomously, yet cooperate within a team of similarly designed robots. Reactive and behavior-based principles are the basis of the system design. Although …
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DEVELOPMENT OF A HYBRID ELECTRIC VEHICLE FOR EFFECTIVE TRAVERSAL OF CONNECTED CORRIDORS
… The development and testing methodology of a supervisory controller for a hybrid vehicle is detailed in this thesis. Finally, the organization of vehicle testing activities in the final year of the EcoCAR Mobility Challenge will be described.
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Trust, self-confidence, and operators' adaptation to automation
… the operators' role from that of an active controller (directly involved with the system) to that of a supervisory controller (managing the use of different degrees of automatic and manual control). This research examined the role of supervisory controllers by investigating the relationship …
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Model Predictive Control Structures in Non-Minimal State Space.
… a Reference Governor scheme is utilised as a supervisory controller to account for constraints. This can lead to constraint handling in cases where a controller is already available. Furthermore, the use of an internal model is considered in the case of the 'Forward Path' NMSS/MPC controller …
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The Modeling and Advanced Controller Design of Wind, PV and Battery Inverters
… in this Ph.D. dissertation.;A multi-objective controller including is proposed for PV inverter to perform voltage flicker suppression, harmonic reduction and unbalance compensation. A novel supervisory control scheme is designed to coordinate PV and battery inverters to provide high quality …
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Collaborative Locomotion of Quadrupedal Robots: From Centralized Predictive Control to Distributed Control
… have allowed the development of distributed controllers for complex robot systems, existing approaches are tailored to the modeling and control of multi-agent systems composed of collaborative robotic arms, multi-fingered robot hands, aerial vehicles, and ground vehicles, but not …