Sökning: "funnel control"

Visar resultat 1 - 5 av 13 avhandlingar innehållade orden funnel control.

1. 1. Funnel-Based Control for Coupled Spatiotemporal Specifications

   Författare :Farhad Mehdifar; Dimos V. Dimarogonas; Charalampos P. Bechlioulis; Bayu Jayawardhana; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Funnel-Based Control; Prescribed Performance Control; Uncertain Nonlinear Systems; Time-Varying Output Constraints; Coupled Spatiotemporal Constraints; Formation Control; Multi-Agent Systems; Trattbaserad kontroll; föreskriven prestandakontroll; osäkra icke-linjära system; tidsvarierande utgångsbegränsningar; kopplade rumsliga begränsningar; formationskontroll; multiagentsystem; Electrical Engineering; Elektro- och systemteknik;

   Sammanfattning : In the past decade, the integration of spatiotemporal constraints into control systems has emerged as a crucial necessity, driven by the demand for enhanced performance, guaranteed safety, and the execution of complex tasks. Spatiotemporal constraints involve criteria that are dependent on both space and time, which can be represented by time-varying constraints in nonlinear control systems. LÄS MER

3. 2. Planning and Control of Uncertain Cooperative Mobile Manipulator-Endowed Systems under Temporal Logic Tasks

   Författare :Christos Verginis; Dimos Dimarogonas; Magnus Egerstedt; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; multi-agent systems; cooperative manipulation; formation control; temporal logic; motion planning; adaptive control; funnel control; navigation; Electrical Engineering; Elektro- och systemteknik;

   Sammanfattning : Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning and control of multi-agent systems under temporal logic tasks. LÄS MER

4. 3. Path integral control endowed robot planning under spatiotemporal logic specifications

   Författare :Péter Várnai; Dimos Dimarogonas; Theodorou Evangelos; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

   Sammanfattning : The increasing level of autonomy and intelligence of robotic systems in carrying out complex tasks can be expected to revolutionize both the industry and our everyday lives. This thesis takes a step towards automation by leveraging the power of path integral control (PIC) methods for solving control problems under such task satisfaction constraints in both a stochastic control and a reinforcement learning setting. LÄS MER

5. 4. Transient Control for Leader-follower Multi-agent Systems with Application to Spatiotemporal Logic Tasks

   Författare :Fei Chen; Dimos V. Dimarogonas; Jana Tumova; Ming Cao; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; multi-agent systems; leader-follower networks; transient constraints; temporal logics; Electrical Engineering; Elektro- och systemteknik;

   Sammanfattning : Over the past few decades, significant research has been directed towards addressing the problem of distributed control of multi-agent systems. The overall tasks include consensus, formation, flocking, and coverage control with the wide applications in multi-robot coordination, manufacturing and intelligent transportation systems. LÄS MER

7. 5. Trajectory Tracking and Prediction-Based Coordination of Underactuated Unmanned Vehicles

   Författare :Dzenan Lapandic; Bo Wahlberg; Antonio Pedro Aguiar; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Electrical Engineering; Elektro- och systemteknik;

   Sammanfattning : In this thesis, we study trajectory tracking and prediction-based control of underactuated unmanned aerial and surface vehicles.  In the first part of the thesis, we examine the trajectory tracking using prescribed performance control (PPC) assuming that the model parameters are unknown. LÄS MER