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 42 for “"optimal controller"”.
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Optimal controller comparison using Pareto fronts
New design methods in Control Systems are regularly proposed. These new methods are typically compared to existing methods in a focused manner that highlights certain criteria, but may neglect other criteria. This thesis investigates the usefulness of Level Diagram visualisation and Performance …
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Integrating Collision Avoidance, Lane Keeping, and Cruise Control With an Optimal Controller and Fuzzy Controller
… There are three types of collision avoidance controllers, passive, active, and semi-active. This thesis is designed using active collision avoidance controllers. There are two controllers developed for collision avoidance in this paper. They are an optimal controller and a fuzzy controller. …
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Development of a Controller for Fermentation in the Dry Grind Corn Process
The controller maintained glucose concentration of <2.0% w/v in the fermenter throughout the SSF process. Reduced glucose concentrations minimize the osmotic shock to yeast and inhibit the growth of other competing microorganisms. Use of the optimal controller resulted in 50% reduction in …
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Analytical and Experimental Study of Nonlinear Structural Control Using Neural Networks
Finally, a linear quadratic Gaussian optimal regulator ( LQG) is designed from an experimentally identified model. Then, the optimal controller is assessed and compared to the neurocontroller results. Additionally, the stability and robustness of the controller is illustrated and outlined. It is …
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Specific optimal control using stochastic approximation
… is concerned with the solution of a specific optimal control problem. Because of the effect of the initial state of a system on the solution, it is desired to obtain a specific optimal controller which will be optimum in a well-defined sense for a region of initial states. The problem is …
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A partial order approach to decentralized control
… algebraic structure allows us to reparametrize optimal control problems to convex problems. Building on this approach, we develop a state-space solution to the problem of designing H₂-optimal controllers. Our solution is based on the exploitation of a key separability property of the problem …
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Learning-based Optimal Control of Time-Varying Linear Systems Over Large Time Intervals
We solve the problem of two-point boundary optimal control of linear time-varying systems with unknown model dynamics using reinforcement learning. Leveraging singular perturbation theory techniques, we transform the time-varying optimal control problem into two time-invariant subproblems. This …
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A nonlinear control algorithm for fuel optimal attitude control using reaction jets
… and design of a weighted nonlinear time-fuel optimal control algorithm for spacecraft attitude dynamics using on-off gas jets. In the development of a controller, we explore four control algorithms within a single-step control framework where the step is the fundamental update time of the …
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Hybrid Control For Aerospace Systems
… elliptic orbits; 2. we design a robust time-sub-optimal controller for a class of linear systems emerging in aerospace applications where the control input is limited in magnitude; 3. we synthesize an observer to estimate the speed of rotary systems providing angular measurements that evolve on …
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Active control of flexural power flow in elastic thin beams
… various terminating boundary conditions. Optimal control solutions were then obtained using a quadratic Wiener solution. The influence of system parameters such as discontinuity impedance and effects such as near fields, number and location of control actuators and error sensors is …
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Improved dynamic stability using FACTS devices with phasor measurement feedback
… advances is the combination of power electronic controllers and compensation devices known as F1exible AC Transmission Systems (FACTS) technology. This thesis will examine the ability of FACTS technology to improve dynamic stability when controlled with data obtained from another recent …
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Accuracy Improvement in Robotic Milling Through Data-Driven Modelling and Control
… Quadratic Regulator (LQR) based pose-dependent optimal controller to suppress tool tip vibrations of a 6-dof industrial robot during milling. Robotic milling experiments show that the LQR controller reduces tool tip vibration amplitudes by an average of 47%. However, offset mass experiments show …
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Analysis and Design of Hybrid Control Systems
… software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method.
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Switched Markov Jump Linear Systems: Analysis and Control Synthesis
… lead to nonconservative LMI formulations for optimal controller synthesis with respect to disturbance attenuation. As a special case, the analysis also applies to a Markov jump linear system with known transition probabilities that vary in a finite set.
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Fixed order controller design via linear programming
<p>Fixed order controllers, such as PD, PI and PID controllers, are the most commonly used in hardware implementations. Therefore, control engineers are often given the task to design fixed order controllers with time domain specifications as the system design requirements. To solve this problem, a …
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Adaptive optimal control of AC/DC systems
… of the dissertation is to describe a new optimal controller formulation which contains a measurement based component. Optimal controllers are commonly constructed using linearized equations of the system around the operating point. In DC systems this approach is of a very limited value …
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Learning and decentralized control in linear switched systems
… models. In this dissertation, we focus on the controller synthesis problem for interconnected systems and the application to physical systems. While there are many existing control theory tools to optimize the performance of systems with a centralized structure, we are interested in developing …
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Guidance laws for partially-observable UAV interception based on linear covariance analysis
… from a single camera sensor. In this work, an optimal control formulation for a drone pursuit-evasion game is achieved in 7 states. Using the sophisticated Continuous Computation and Compression (C3) library, a new optimal controller is calculated in compressed tensor train (TT) format. By …
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Agile quadrotor maneuvering using tensor-decomposition-based globally optimal control and onboard visual-inertial estimation
… continuous computation techniques for stochastic optimal control allow designing feedback control systems for agile maneuvering. In this thesis, we design, implement and demonstrate a micro unmanned aerial vehicle capable of executing certain agile maneuvers using only a forward-facing camera and …
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Optimization based control design techniques for distributed parameter systems
… theory are used to formulate a feedback controller. This control technique is demonstrated for heat equations and thermal convection loops. This technique is extended to address a practical issue of parameter uncertainty in a class of systems. An estimator is defined for unknown …
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