Sökning: "Euler-Lagrange Systems"

Visar resultat 1 - 5 av 7 avhandlingar innehållade orden Euler-Lagrange Systems.

  1. 1. Online trajectory planning and observer based control

    Författare :David A. Anisi; Xiaoming Hu; Daizhan Cheng; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Consensus Problem; Simultaneous Arrival; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori;

    Sammanfattning : The main body of this thesis consists of four appended papers. The first two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. LÄS MER

  3. 2. On Cooperative Surveillance, Online Trajectory Planning and Observer Based Control

    Författare :David A. Anisi; Xiaoming Hu; Randal Beard; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Surveillance Missions; Minimum-Time Surveillance; Unmanned Ground Vehicles; Connectivity Constraints; Combinatorial Optimization; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori; Applied mathematics; Tillämpad matematik;

    Sammanfattning : The main body of this thesis consists of six appended papers. In the  first two, different  cooperative surveillance problems are considered. The second two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. LÄS MER

  4. 3. Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control

    Författare :Pedro La Hera; Anton Shiriaev; Ambarish Goswami; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Underactuated mechanical systems; mechanical systems with impacts; trajectory planning; periodic trajectories; orbital stabilization; walking robots; virtual holonomic constraints; transverse linearization; Automatic control; Reglerteknik; Automatic Control; reglerteknik;

    Sammanfattning : Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. LÄS MER

  5. 4. Methods for Direct Optimal Control of Multibody Systems

    Författare :Staffan C Björkenstam; Chalmers tekniska högskola; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; discrete mechanics; robotics; Optimal control; motion planning; multibody dynamics; digital human modeling;

    Sammanfattning : In this thesis we present practical tools and techniques to numerically solve optimal control problems involving multibody systems. The driving application for the thesis has been developing motion planning tools for industrial robots and digital humans. LÄS MER

  7. 5. Construction of Adaptive Multistep Methods for Problems with Discontinuities, Invariants, and Constraints

    Författare :Fatemeh Mohammadi; Numerisk analys; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; multistep methods; Initialization; beta-blocking; Discontinuity; Time adaptivity; Strong stability preserving; Differential algebraic equations;

    Sammanfattning : Adaptive multistep methods have been widely used to solve initial value problems. These ordinary differential equations (ODEs) may arise from semi-discretization of time-dependent partial differential equations(PDEs) or may combine with some algebraic equations to represent a differential algebraic equations (DAEs). LÄS MER