Search for dissertations about: "Control Lyapunov Function"

Showing result 1 - 5 of 19 swedish dissertations containing the words Control Lyapunov Function.

2. 1. Control Lyapunov Functions : A Control Strategy for Damping of Power Oscillations in Large Power Systems

   Author : Mehrdad Ghandhari; KTH; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; UPFC; CSC; QBT; Lyapunov function; Control Lyapunov Function; SIME; Sliding mode; Electric power engineering; Elkraftteknik;

   Abstract : In the present climate of deregulation and privatisation, theutilities are often separated into generation, transmission anddistribution companies so as to help promote economic efficiencyand encourage competition. Also, environmental concerns,right-of-way and cost problems have delayed the construction ofboth generation facilities and new transmission lines while thedemand for electric power has continued to grow, which must bemet by increased loading of available lines. READ MORE

4. 2. Piecewise Linear Control Systems

   Author : Mikael Johansson; Institutionen för reglerteknik; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Piecewise quadratic functions; Linear matrix inequalities; Convex optimization; Optimal control; Performance analysis; Piecewise linear Lyapunov functions; Piecewise quadratic Lyapunov functions; Quadratic stability; Lyapunov stability; Piecewise linear systems; Nonlinear systems; Fuzzy systems; Hybrid systems.; Automation; robotics; control engineering; Automatiska system; robotteknik; reglerteknik;

   Abstract : This thesis treats analysis and design of piecewise linear control systems. Piecewise linear systems capture many of the most common nonlinearities in engineering systems, and they can also be used for approximation of other nonlinear systems. READ MORE

5. 3. Formations and Obstacle Avoidance in Mobile Robot Control

   Author : Petter Ögren; KTH; []
   Keywords : Mobile Robots; Robot Control; Obstacle Avoidance; Multi-robot system; Formation Control; Navigation Function; Lyapunov Function; Model Predictive Control; Receding Horizon Control; Gradient Climbing; Gradient Estimation.;

   Abstract : This thesis consists of four independent papers concerningthe control of mobile robots in the context of obstacleavoidance and formation keeping. The first paper describes a new theoreticallyv erifiableapproach to obstacle avoidance. READ MORE

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

   Author : Goncalo Collares Pereira; Jonas Mårtensson; Bo Wahlberg; Henrik Pettersson; Daniel Axehill; KTH; []
   Keywords : 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;

   Abstract : 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. READ MORE

7. 5. Gain-Scheduled Controller Design

   Author : Adrian Ilka; Chalmers tekniska högskola; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Guaranteed cost control; Gain-scheduled control; Bellman-Lyapunov function; Lyapunov theory of stability; Robust control; Input output constraints; LPV system;

   Abstract : This thesis is devoted to controller synthesis, i.e. to finding a systematic procedure to determine the optimal (sub-optimal) controller parameters which guarantees the closed-loop stability and guaranteed cost for uncertain nonlinear systems with considering input/output constraints, all this without on-line optimization. READ MORE