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 15 of 15 for “"control Lyapunov"”.
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Integral Quadratic Constraints and Safety Certificates for Uncertainty Characterization and Control Safety-Aware Filtering of Proximity Operations Between Satellites
… stability and robust performance of a satellite controller that considers six-dimensional, uncertain state, and often unmodeled dynamics during rendezvous and proximity operations, and (2) to explore the synthesis of control Lyapunov/barrier functions (CLFs/CBFs) using neural networks and …
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Applications of robust optimal control to decision making in the presence of uncertainty
… decision making in financial economics. Feedback control models developed in engineering are applied to three separate though linked problems in order to examine the role and impact of robustness in the creation and application of decision rules. Three problems are examined using robust optimal …
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Studies on Stability and Stabilization of Randomly Switched Systems
… a study on stability analysis 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 …
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Nonlinear control with two complementary Lyapunov function
If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents a new approach which eliminates this challenge: a simple control Lyapunov function [CLF] is assumed then the algorithm seeks to …
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Dynamic Neural Network-based Adaptive Inverse Optimal Control Design
… (DNN) model based adaptive inverse 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 …
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Real-Time Planning and Nonlinear Control for Robust Quadrupedal Locomotion with Tails
… to address the real-time planning and nonlinear control of quadrupedal locomotion such that the resulting gaits are robust to various kinds of disturbances. Specifically, this work addresses two scenarios. Namely, a quasi-static formulation in which an inertial appendage (i.e., a tail) is used to …
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Hierarchical Control of Constrained Multi-Agent Legged Locomotion: A Data-Driven Approach
… work provides a detailed derivation of a torque controller that is theoretically justifiable in the context of Hybrid Zero Dynamics at the lowest level of control to produce highly robust locomotion, even when subject to uncertainty. The torque controller is based on virtual constraints and …
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Analysis and Design of Stable and Optimal Energy Management Strategies for Hybrid Electric Vehicles
… the secondary source of energy is a challenging control and optimization problem. The energy management strategy in a HEV aims at finding the optimal distribution of energy between the battery and the fuel to satisfy the requested power from the driver.Different energy management strategies have …
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A Novel Adaptive Algorithm for the Modeling and Regulation of Power Converters for Grid Applications
L'abstract è presente nell'allegato / the abstract is in the attachment
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Adaptive State Feedback Control of Lorenz Systems to Its Non-Trivial Equilibrium
… regime, we implement a linear state feedback controller to stabilize the state trajectory at its original nontrivial equilibrium. The state variable for feedback is easily measurable. The system is proved to be globally asymptotically stable with a optimal feedback gain. The stability bound is …
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Rendezvous of multiple Dubins car agents with minimal sensing and control requirements
We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each …
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Lyapunov-Based Robust and Adaptive Control Design for nonlinear Uncertain Systems
The control of systems with uncertain nonlinear dynamics is an important field of control science attracting decades of focus. In this dissertation, four different control strategies are presented using sliding mode control, adaptive control, dynamic compensation, and neural network for a nonlinear …
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
… part of this dissertation, we consider tracking control of underactuated systems on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). We formulate both asymptotically and finite-time stable tracking control schemes for underactuated rigid bodies that have one …
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Ensemble control of robotic systems
… dissertation, we apply the framework of ensemble control theory to derive an approximate steering algorithm for two classical robotic systems---the nonholonomic unicycle and the plate-ball manipulator---in the presence of model perturbation that scales all inputs by an unknown but bounded …
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Investigation of Nonlinear Control Strategies Using GPS Simulator And Spacecraft Attitude Control Simulator
… we discuss the Distributed Spacecraft Attitude Control System Simulator (DSACSS) testbed developed at Virginia Polytechnic Institute and State University for the purpose of investigating various control techniques for single and multiple spacecraft. DSACSS is comprised of two independent …