Sökning: "Lyapunov stability"

Visar resultat 21 - 25 av 35 avhandlingar innehållade orden Lyapunov stability.

  1. 21. Nonlinear Control of Unmanned Aerial Vehicles : Systems With an Attitude

    Författare :Marcus Greiff; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Nonlinear Control; Lyapunov Methods; Aerospace; Aerial Vehicles; Output Feedback; Control Theory;

    Sammanfattning : This thesis deals with the general problem of controlling rigid-body systems through space, with a special focus on unmanned aerial vehicles (UAVs). Several promising UAV control algorithms have been developed over the past decades, enabling truly astounding feats of agility when combined with modern sensing technologies. LÄS MER

  3. 22. Analysis and Design of Hybrid Control Systems

    Författare :Jörgen Malmborg; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Lyapunov theory; Mode switching; Multi-controllers; PID control; Simulation; Higher order sliding; Hybrid control; Sliding modes; Automation; robotics; control engineering; Automatiska system; robotteknik; reglerteknik;

    Sammanfattning : Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. LÄS MER

  4. 23. Adaptive Lateral Model Predictive Control for Autonomous Driving of Heavy-Duty Vehicles

    Författare :Goncalo Collares Pereira; Jonas Mårtensson; Bo Wahlberg; Henrik Pettersson; Daniel Axehill; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Model Predictive Control; Control Stability; Experimental Evaluation; Fleet Evaluation; Adaptive Control; Automatic Control; Autonomous Vehicles; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : Autonomous Vehicle (AV) technology promises safer, greener, and more efficient means of transportation for everyone. AVs are expected to have their first big impact in closed environments, such as mining areas, ports, and construction sites, where Heavy-Duty Vehicles (HDVs) operate. LÄS MER

  5. 24. Stability Properties of Switched Dynamical Systems A Linear Matrix Inequality Approach

    Författare :Marcus Rubensson; Chalmers tekniska högskola; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Sammanfattning : The dynamical properties of many natural phenomena are traditionally described by smooth differential equation models. The use of automated control structures imposes new behaviors on the controlled system. Actions are often organized in a logical manner. Switched dynamical models are a natural extension to smooth differential equation models. LÄS MER

  7. 25. Data-Driven Methods for Contact-Rich Manipulation: Control Stability and Data-Efficiency

    Författare :Shahbaz Abdul Khader; Danica Kragic; Ludovic Righetti; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotic; Skill Learning; Reinforcement Learning; Contact-Rich Manipulation; Computer Science; Datalogi;

    Sammanfattning : Autonomous robots are expected to make a greater presence in the homes and workplaces of human beings. Unlike their industrial counterparts, autonomous robots have to deal with a great deal of uncertainty and lack of structure in their environment. LÄS MER