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 7 of 7 for “"feedback control policy"”.
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Feedback control of many differential-drive robots with uniform control inputs
We describe a method of feedback position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve …
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Control of servers in a two node queueing network
Server control in a two-node Markovian queueing network with a limited total number of servers is considered. Two problems have been studied; the first problem is to find a quasi-steady-state control policy for a periodic review of server allocation. This policy can be regarded as a feedback …
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Applied optimal control for dynamically stable legged locomotion
Online learning and controller adaptation will be an essential component for legged robots in the next few years as they begin to leave the laboratory setting and join our world. I present the first example of a learning system which is able to quickly and reliably acquire a robust feedback control …
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Combining local and global optimization for planning and control in information space
… address the problem of planning a trajectory for controlling a robot with imperfect state information under uncertainty. This question is formulated abstractly as a partially observable stochastic shortest path (POSSP) problem. We assume that the feature-based map of a region is available to …
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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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Experiments in quasi-static manipulation of an elastic rod
… can be described as the solution to an optimal control problem with boundary conditions that vary with the position and orientation of each gripper. Recent work has shown that the set of all local solutions to this problem over all possible boundary conditions is a smooth manifold of finite …
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Control and stability of autonomous inverter-based microgrids
… the absence of the stabilising inertia makes the control and stabilising of autonomous microgrids a complex problem. In this thesis, we consider the main control objectives associated with operating inverter-based microgrids in autonomous mode, which are frequency and voltage regulation, and power …