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Visar resultat 1 - 5 av 66 avhandlingar som matchar ovanstående sökkriterier.

  1. 1. 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

  3. 2. On Kinematic Modelling and Iterative Learning Control of Industrial Robots

    Författare :Johanna Wallén; Mikael Norrlöf; Svante Gunnarsson; Geir Hovland; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Industrial robots; kinematics; Maple; modelling; iterative learning control; experiments; Automatic control; Reglerteknik;

    Sammanfattning : Good models of industrial robots are necessary in a variety of applications, such as mechanical design, performance simulation, control, diagnosis, supervision and offline programming. This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied. LÄS MER

  4. 3. Kinematic Control of Redundant Knuckle Booms with Automatic Path Following Functions

    Författare :Björn Löfgren; Jan Wikander; Arto Finland Helsinki University of Technology Visala; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Hydraulic manipulator; redundancy; kinematic control; local optimization; knuckle boom; forest machine; forwarder; boom tip control; joystick control; simulations; path following; Construction engineering; Konstruktionsteknik;

    Sammanfattning : To stay competitive internationally, the Swedish forestry sector must increase its productivity by 2 to 3% annually. There are a variety of ways in which productivity can be increased. One option is to develop remote-controlled or unmanned machines, thus reducing the need for operator intervention. LÄS MER

  5. 4. Particle Filtering and Optimal Control for Vehicles and Robots

    Författare :Karl Berntorp; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; particle filtering; optimal control; automotive systems; out-of-sequence measurement; autonomy; model predictive control; sensor fusion; wheel slip; dynamic optimization;

    Sammanfattning : This thesis covers areas within estimation and optimal control of vehicles, in particular four-wheeled vehicles. One topic is how to handle delayed and out-of-sequence measurements (OOSMs) in tracking systems. LÄS MER

  7. 5. Kinematic control of redundant knuckle booms

    Författare :Björn Löfgren; KTH; []
    Nyckelord :manipulator; kinematic control. Redundant;

    Sammanfattning : A kinematically redundant four degrees of freedommanipulator arm, a knuckle boom, is studied. Three joints arerevolute and one linear. Since only three degrees of freedomare needed for positioning, we have one redundant degree offreedom. Three different kinematic control strategies arestudied. LÄS MER