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 “"Switched control"”.
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Hybrid-Adaptive Switched Control for Robotic Manipulator Interacting with Arbitrary Surface Shapes Under Multi-Sensory Guidance
… instrumented compliant wrist) and an original control framework which can easily be ported to different manipulators. The proposed system utilizes both offline and online trajectory planning to achieve fully automated object interaction and surface following with or without contact where no …
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Control of quad-rotor UAVs using switched-system synthesis methods
This thesis applies switched systems synthesis and linear quadratic regulator (LQR) theory to control of a quad-rotor unmanned aerial vehicle (UAV). The thesis presents the development of the system dynamics, the theory of LQR and its implementation, the synthesis and simulation results of switched …
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Decentralized control of linear switched systems with receding horizon
In this thesis, we consider the decentralized switched control problem where exact conditions for controller synthesis are obtained via Linear Matrix Inequalities (LMIs). Using known derivations for a centralized controller with look-ahead, we were able to extend the decentralized problem with …
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Receding-horizon switched linear system design: a semidefinite programming approach with distributed computation
… presents a framework for analysis and controller synthesis problems for switched linear systems. These are multi-modal systems whose parameters vary within a finite set according to the state of a discrete time automaton; the switching signal may be unconstrained or may be drawn from a …
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A Low-Cost Unmanned Aerial Vehicle Research Platform: Development, Modeling and Advanced Control Implementation
… unmanned aerial vehicle (UAV) for advanced control implementation. The platform is mostly constructed of low-cost commercial off-the-shelf (COTS) components. The only non-COTS components are the airdata probes which are manufactured and calibrated in-house, following a procedure provided …
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Team decision theory of switched static and dynamic systems
This dissertation considers the decentralized control of switched linear systems with parameter dependent cost and system matrices. This problem class is investigated under a number of different formulations of player information structure, performance criteria and switching architecture. Such …
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Switched and hybrid systems with inputs: small-gain theorems, control with limited information, and topological entropy
… thesis, we study stability and stabilization of switched and hybrid systems with inputs. We consider primarily two topics in this area: small gain theorems for interconnected switched and hybrid systems, and control of switched linear systems with limited information. First, we study …
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Learning and decentralized control in linear switched systems
Switched systems are an important and widely studied area of control theory since their applications can be encountered in many different circumstances. Examples of such systems include robotics, power grids, networked systems, and macroeconomic models. In this dissertation, we focus on the …