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 24 for “"Switched system"”.
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Hybrid Switched System Visual Servo Control
Furthermore, nonholonomic systems present a control task that is not suitable for a single, continuous feedback controller. Switched-system control of IBVS and PBVS systems offer the opportunity to use vision data in the closed loop control of a nonholonomic system. We present such a …
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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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Topological entropy bounds for switched linear systems with lie structure
… into bounds for topological entropy of switched linear systems. Entropy measures, roughly, the information needed to describe the behavior of a system with finite precision on finite time horizons, in the limit. After working out entropy computations in detail for the scalar switched …
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Environmental Tracking and Formation Control for an Autonomous Underwater Vehicle Platoon with Limited Communication
… addressed by modeling the platoon as a periodic switched system whose frozen-time subsystems possess disconnected networks, but whose time-averaged system is connected. The stability and input-output properties of the switched system are related to those of the corresponding average system. Under …
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Studies on Stability and Stabilization of Randomly Switched Systems
… and stabilizing controller synthesis of randomly switched systems. These systems have two ingredients: a family of nonlinear subsystems and a random switching signal that specifies which subsystem is active at each time instant. In broad strokes, the approach pursued here consists of identifying …
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Stability results for constrained dynamical systems
… framework to model and analyse dynamic systems with constraints. This framework facilitates modelling of the system behaviour through natural physical variables of the system, while preserving the topological constraints of the system. The main purpose of this dissertation is to …
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Dynamic modeling, simulation, and control of transportation HVAC systems
Air Conditioning and Refrigeration (AC&R) systems are ubiquitous in modern society since they perform the key engineering function of transporting thermal energy from one physical location to another. In doing so they are able to change the condition of a defined spatial environment to prescribe a …
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A Lyapunov-based small-gain theorem for interconnected switched systems
Stability of an interconnected system consisting of two switched systems is investigated in the scenario where in both switched systems there may exist some subsystems that are not input-to-state stable (non-ISS). We have shown that, providing the switching signals neither switch too frequently nor …
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Real-time optimal control of autonomous switched systems
… optimal control framework for autonomous switched systems. Traditional optimal control approaches for autonomous switched systems are open-loop in nature. Therefore, the switching times of the system can not be adjusted or adapted when the system parameters or the operational environments …
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Improvements to the electrohydrodynamic jet printing process
… and tuning. Secondly, we also present a gray-box switched-system model for the trajectory of a jet during the printing process which accurately captures features observed through high-speed imaging. This model is simple and flexible enough to be useful for variety of applications. The …
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Nonlinear observer design using contraction theory with application to heat exchangers having varying phase transition
Thermo-fluid systems such as air conditioning and refrigeration systems are widely used in residential, commercial, and industrial applications. By the end of the 20th century, nearly 70 percent of U.S. households had air conditioning, and 99.5 percent had at least one refrigerator. Advanced …
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PLAYBACK BUFFERING AND CONTROL FOR LINEAR MULTIPLE INPUT MULTIPLE OUTPUT NETWORK CONTROL SYSTEMS
In this dissertation, we derive a generalized switched system model for a control strategy aimed at stabilizing linear stable Network Control Systems (NCS). In some special cases, plant states can be brought to a desired set-point by applying a single control. For such systems, we mathematically …
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Composing motion primitives under disturbances: a switched systems approach
… primitives (DMPs)---characterized by dynamical systems with equilibria. ☐ The planning-control architecture used in this dissertation---which is also fairly pervasive in robotics---consists of a high-level planner and a low-level controller. The high-level planner is equipped with a discrete set …
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Invertibility and observability of switched systems with inputs and outputs
Hybrid dynamical systems or switched systems can operate in several different modes, with some discrete dynamics governing the mode changes. Each mode of operation is described by a dynamical subsystem having an internal state, an external input (which can be thought of as a disturbance or a …
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Performance evaluation of multimedia satellite communications systems using on-board packet switches
Satellite communications systems are ideally equipped to provide future multimedia services on a global level and at a distance-independent cost. In order to meet the ever-growing bandwidth demands of these new applications, satellites employing multiple spot beam antennas are required. An on-board …
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Control of linear switched systems using state feedback with saturation constraints
… considers the stabilization of discrete time switched systems using average output variance as the performance criterion, incorporating actuator saturation constraints into this optimal synthesis. Necessary and sufficient conditions are presented for the existence of a stabilizing static state …
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Regulation in Switched Bimodal Linear Systems
… control problems for a variety of engineering systems having smooth dynamics. In practice, one often encounters also non-smooth systems in various branches of science and engineering, such as for example mechanical systems subject to impact. Motivated by the read/write head flying height …
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Switching observer design, consensus management, and time-delayed control with applications for rigid-body attitude dynamics
… delay dependent stability conditions for the system of double integrator agents are presented. This dissertation also considers the problem of stabilizing attitude dynamics with unknown piecewise-constant delayed feedback. The problem is addressed through stability analysis of switched linear …
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Geometric control and motion planning for three-dimensional bipedal locomotion
… stable hybrid limit cycles, we exploit system energetics, symmetry, and passivity through the energy-shaping method of controlled geometric reduction. This decouples a subsystem corresponding to a lower-dimensional robot through a passivity-based feedback transformation of the system …
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Stability Analysis of Positive Systems with Applications to Epidemiology
… we deal with stability of uncertain positive systems. Although in recent years much attention has been paid to positive systems in general, there are still many areas that are left untouched. One of these areas, is the stability analysis of positive systems under any form of uncertainty. In …
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