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.
Results
Showing 1 to 10 of 10 for “"nonlinear MPC"”.
-
Cloud-Based Model Predictive Control: Establishing a Fully Distributed Architecture for Nonlinear MPC
… decades, distributed model predictive control (MPC) has become an increasingly popular research topic. Distributed MPC constitutes a valuable tool, providing computationally efficient optimal control algorithms that can successfully account for the interactions of complex, interconnected …
-
Model Predictive Control of a Nonlinear Aeroelastic System Using Volterra Series Representations
… Model Predictive Control strategy to control a nonlinear aeroelastic system. Model Predictive Control (MPC), also known as Receding Horizon Control (RHC), entails computing optimal control inputs over a finite time horizon, applying a portion of the computed optimal control sequence, and then …
-
Dynamic response and maneuvering strategies of a hybrid autonomous underwater vehicle in hovering
… model was developed to describe the complex nonlinear vehicle dynamics, and experiments were performed to refine this model. The fluid dynamics of unsteady azimuthing marine propulsors are largely unstudied, especially for small vehicles like the Odyssey IV AUV. Experiments suggest that …
-
Optimal Control of Multiple Quadrotors for Transporting a Cable Suspended Payload
… based LQR (ILQR), the Model Predictive Control MPC and the dynamic game controller to solve tracking control problems in terms of stabilisation, accuracy, constraints and collision avoidance. The LQR control was applied to the system as the first control method and compared with the classical …
-
Towards Efficient Hydraulic Manipulator Control using Learning-Based Model Predictive Control
… difficult to 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 …
-
Design and Certification of Industrial Predictive Controllers
… activities on model predictive control (MPC). The improvement in efficiency of the on-line optimization part of MPC led to its adoption in mechanical and mechatronic systems from process control and petrochemical applications. However, the massive strides made by the academic community in …
-
Particle Filtering and Optimal Control for Vehicles and Robots
… a Bayesian formulation of the OOSM problem for nonlinear state-space models, when a linear, Gaussian substructure is present. This formulation is utilized when developing two particle-filter algorithms for the OOSM problem. The algorithms improve estimation accuracy and tracking robustness, …
-
Adaptive Predictive Controllers for Agile Quadrupedal Locomotion with Unknown Payloads
… an adaptive model predictive control (AMPC) algorithm with a gradient-descent-based adaptive updating law applied to reduced-order locomotion (i.e., template) models. At the high level of the control hierarchy, an indirect adaptive law estimates unknown parameters of the reduced-order …
-
Automated Optimization and Control of Modular Chemical Systems
… a variation of linear model predictive control (MPC), known as quadratic dynamic matrix control. Dynamic optimization for startup based on a first-principles plant-wide model is formulated and solved for a virtual plant for the upstream synthesis of atropine. Then the thesis presents a …
-
Safe Navigation of Multi-Agent Quadrupedal Robots: A Hierarchical Control Framework Based on Distributed Predictive Control and Control Barrier Functions
… models may fail to capture the intricate nonlinear dynamics of quadrupedal robots. Furthermore, in multi-robot systems (MRS) where numerous robots operate concurrently, it becomes crucial to develop strategies embedding collision safety mechanisms. One approach involves embedding Euclidean …