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 11 of 11 for “"uncertain dynamics"”.
-
Applied Nonlinear Control of Unmanned Vehicles with Uncertain Dynamics
… control framework for a wide class of nonlinear uncertain systems, with a special emphasis on issues related to implementation, such as control input amplitude and rate saturation, or partial state measurements availability. More specifically, an adaptive control framework, allowing to enforce …
-
Terminal sliding mode control for rigid robotic manipulators with uncertain dynamics
… with non-linearities, dynamic couplings and uncertain parameters. The first law provides a robust scheme which uses several properties of rigid robotic mauipulators and adaptively adjusts seven uncertain parameter bounds. The law ensures finite time error convergence to the system origin and …
-
Robust Control Methods for Nonlinear Systems with Uncertain Dynamics and Unknown Control Direction
… tracking control for systems containing dynamic uncertainty, unmodeled disturbances, and actuator anomalies that result in an unknown and time-varying control direction. In order to ease readability of this dissertation, detailed explanations of the relevant mathematical tools is provided, …
-
Coping with uncertain dynamics in visual tracking : redundant state models and discrete search methods
A model of the world dynamics is a vital part of any tracking algorithm. The observed world can exhibit multiple complex dynamics at different spatio-temporal scales. Faithfully modeling all motion constraints in a computationally efficient manner may be too complicated or completely impossible. …
-
Guidance, control and estimation of autonomous vehicle systems
… sensing, and communication conditions such as uncertain dynamics, passive sensor, limited communication range, and the complicated coupling among them. With that objective in mind, we start with designing vision-based guidance and estimation algorithms for small unmanned air vehicles (UAVs) to …
-
Steering control and Kalman filter position estimation comparison for an autonomous underwater vehicle
… Pure Pursuit controllers. It is suggested under uncertain dynamics and noisy sensor conditions, a fuzzy controller should be used because of its higher ability to filter out noises and reject disturbances. Challenges in localization are addressed using the Unscented version of the Kalman filter, …
-
Adaptive Path Following of the Biomorphic Hyper-Redundant Snake Robot in Unconstructed Environment
… high-dimension nonlinearity, and uncertainties in kinematics, dynamics and interactions with complex environments. This work relies on a custom-built snake robot that can mimic the locomotion capabilities of snakes, such as serpentine, sidewinding, and rectilinear motions, which …
-
Data-driven system identification of strongly nonlinear modal interactions and model updating of nonlinear dynamical systems
… identify and incorporate the unmodeled and/or uncertain dynamics to reconcile theoretical prediction and experimental observation. While linear identification tools are well-established, practicing engineers face significant barriers when identifying and constructing reduced-order models of the …
-
Mode identification using stochastic hybrid models with applications to conflict detection and resolution
… introducing a measure of probabilistic uncertainty in any decision aid fashioned to assist air traffic controllers. The interaction of the continuous dynamics of the aircraft, used for prediction purposes, with the discrete conflict detection logic gives rise to the hybrid nature of the …
-
Minimum Variance Benchmark and Performance Assessment for PID Controllers
… closed-loop performance may deteriorate due to uncertain dynamics and changing operating conditions. Regardless where the controllers have been applied, automatic online performance monitoring is essential to check the controllers to detect significant performance degradation. Therefore a …
-
Optimal docking to tumbling objects with uncertain properties
… of several challenges, including 1) flexible dynamics, 2) impending collision with other proximity objects, 3) uncooperative satellites, 4) tumbling behavior, 5) uncertainty in the knowledge of this tumble, and 6) the need to maneuver at least one of the satellites through an accelerated …