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 6 of 6 for “"Unknown system dynamics"”.
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Terminal sliding mode control for rigid robotic manipulators with uncertain dynamics
… law ensures finite time error convergence to the system origin and is simple to implement The second law treats the manipulator as a partially known system. The known dynamics are used to build a nominal control law and the effects of unknown system dynamics arc compensated for by use of a sliding …
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Reinforcement Learning and Planning for Preference Balancing Tasks
Robots are often highly non-linear dynamical systems with many degrees of freedom, making solving motion problems computationally challenging. One solution has been reinforcement learning (RL), which learns through experimentation to automatically perform the near-optimal motions that complete a …
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A control theoretic approach for security of cyber-physical systems
… novel defense methodologies for cyber-physical systems have been proposed. First, a special type of cyber-physical system, the RFID system, is considered for which a lightweight mutual authentication and ownership management protocol is proposed in order to protect the data confidentiality and …
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Dynamic Neural Network-based Adaptive Inverse Optimal Control Design
… optimal control design for a class of nonlinear systems. A DNN structure is developed and stabilized based on a control Lyapunov function (CLF). The CLF must satisfy the partial Hamilton Jacobi-Bellman (HJB) equation to solve the cost function in order to prove the optimality. In other words, the …
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Towards Efficient Hydraulic Manipulator Control using Learning-Based Model Predictive Control
… due to the prevalent nonlinear and complex dynamics. As a result, automation and control of such machines has only proceeded as far as tele-operation. Recently, research has explored the use of Gaussian Process Regression (GPR) to enhance the modelling of manipulator dynamics, ultimately …
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Adaptive Predictor-Based Output Feedback Control of Unknown Multi-Input Multi-Output Systems: Theory and Application to Biomedical Inspired Problems
… in the more practical situations, human limb dynamics are extremely complicate and it is inadequate to use model based controllers, especially considering there are still technical limitations that allow in vivo measurements of muscle activity. To tackle these challenges, we have developed …