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 38 for “"switched systems"”.
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Robust adaptive control of switched systems
… controllers are developed for classes of switched nonlinear systems. Switched systems are those governed by differential equations, which undergo vector field switching due to sudden changes in model characteristics. Such systems arise in many applications such as mechanical systems with …
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Optimal control of controllable switched systems
Many of the existing techniques for controlling switched systems either require the solution to a complex optimization problem or significant sacrifices to either stability or performance to offer practical controllers. In [13], it is shown that stabilizing, practical controllers with meaningful …
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Real-time optimal control of autonomous switched systems
… optimal control framework for autonomous switched systems. Traditional optimal control approaches for autonomous switched systems are open-loop in nature. Therefore, the switching times of the system can not be adjusted or adapted when the system parameters or the operational environments …
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Learning and decentralized control in linear switched systems
Switched systems are an important and widely studied area of control theory since their applications can be encountered in many different circumstances. Examples of such systems include robotics, power grids, networked systems, and macroeconomic models. In this dissertation, we focus on the …
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Composing motion primitives under disturbances: a switched systems approach
… primitives (DMPs)---characterized by dynamical systems with equilibria. ☐ The planning-control architecture used in this dissertation---which is also fairly pervasive in robotics---consists of a high-level planner and a low-level controller. The high-level planner is equipped with a discrete set …
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Decentralized control of linear switched systems with receding horizon
In this thesis, we consider the decentralized switched control problem where exact conditions for controller synthesis are obtained via Linear Matrix Inequalities (LMIs). Using known derivations for a centralized controller with look-ahead, we were able to extend the decentralized problem with …
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Studies on Stability and Stabilization of Randomly Switched Systems
… 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 pursued here consists of identifying …
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A Lyapunov-based small-gain theorem for interconnected switched systems
… of an interconnected system consisting of two switched systems is investigated in the scenario where in both switched systems there may exist some subsystems that are not input-to-state stable (non-ISS). We have shown that, providing the switching signals neither switch too frequently nor …
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Invertibility and observability of switched systems with inputs and outputs
Hybrid dynamical systems or switched systems can operate in several different modes, with some discrete dynamics governing the mode changes. Each mode of operation is described by a dynamical subsystem having an internal state, an external input (which can be thought of as a disturbance or a …
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Control of linear switched systems using state feedback with saturation constraints
… considers the stabilization of discrete time switched systems using average output variance as the performance criterion, incorporating actuator saturation constraints into this optimal synthesis. Necessary and sufficient conditions are presented for the existence of a stabilizing static state …
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On l∞ performance optimization: linear switched systems and systems with cone constraints
The l∞ performance of Linear Time-Invariant (LTI) systems has been one of the corner stones of the robust control theory for over the past 30 years. The l∞ performance has been studied mostly for LTI systems and the scarcity of the results for other types of systems is prominent in this area. This …
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Invertibility and Input -to -State Stability of Switched Systems and Applications in Adaptive Control
As control applications of switched systems, we apply our stability, results for switched systems to the problem of adaptively controlling uncertain nonlinear plants and linear time-varying plants. For uncertain nonlinear plants with hounded noise and disturbances, we show that using supervisory …
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Non-monotonic Lyapunov functions for stability of nonlinear and switched systems : theory and computation
… tool for establishing stability of nonlinear systems. Since the main challenge in stability analysis based on Lyapunov theory is always to nd a suitable Lyapunov function, weakening the requirements of the Lyapunov function is of great interest. In this thesis, we relax the monotonicity …
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Nonlinear and switched systems: Geometric motion planning, non-monotonic Lyapunov functions and input-to-state stability
… and analysis of stability of nonlinear and switched systems have been researched in this work. In terms of control strategy, we propose a novel approach to the long-standing problem of motion planning for non-holonomic systems. The admissible motion is obtained by properly assigning …
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Modelling high peak-power solid-state lasers
… analysis and interrogation of optical modelling systems. This tool was used to make recommendations in the design stages for a laser product developed at Thales UK Ltd., the sponsor company for this thesis.;The second major project concerned the modelling of a non-line-of-sight Light Detection …
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Stability of linear autonomous systems under regular switching sequences
… of stability of autonomous discrete-time linear switched systems, namely absolute asymptotic stability (AAS) and shuffle asymptotic stability (SAS). We also extend these stability definitions to robust versions. We prove that absolute asymptotic stability, robust absolute asymptotic stability and …
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Stability Analysis of Positive Systems with Applications to Epidemiology
… we deal with stability of uncertain positive systems. Although in recent years much attention has been paid to positive systems in general, there are still many areas that are left untouched. One of these areas, is the stability analysis of positive systems under any form of uncertainty. In …
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Global optimization of hybrid systems
Systems that exhibit both discrete state and continuous state dynamics are called hybrid systems. In most nontrivial cases, these two aspects of system behavior interact to such a significant extent that they cannot be decoupled effectively by any kind of abstraction and must be analyzed …
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On the synthesis of switched output feedback controllers for linear, time-invariant systems
The theory of switching systems has seen many advances in the past decade. Its beginnings were founded primarily due to the physical limitations in devices to implement control such as relays, but today there exists a strong interest in the development of switching systems where switching is …
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Topics in Automotive Rollover Prevention: Robust and Adaptive Switching Strategies for Estimation and Control
… by integrating them with the multiple model switched CG position estimation algorithm. This results in adaptive controllers with higher performance than the robust counterparts. In the second half of the thesis we analyze extensions of certain theoretical results with important implications …
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