Search for dissertations about: "Explicit MPC"

Showing result 1 - 5 of 6 swedish dissertations containing the words Explicit MPC.

2. 1. Model Predictive Control for Cooperative Rendezvous of Autonomous Unmanned Vehicles

   Author : Linnea Persson; Bo Wahlberg; Jonathan How; KTH; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Autonomous systems; Model Predictive Control; MPC; Autonomous landing; UAV; Unmanned Aerial Vehicle; Moving target; Quadcopter; Implementation; Variable Horizon MPC; Adaptive Horizon MPC; Autonom landning; Modell-prediktiv reglerteknik; quadcopter; autonoma system; MPC; Electrical Engineering; Elektro- och systemteknik;

   Abstract : This thesis investigates cooperative maneuvers for aerial vehicles autonomously landing on moving platforms. The objective has been to develop methods for safely performing such landings on real systems subject to a variety of disturbances, as well as physical and computational constraints. READ MORE

4. 2. Structure-Exploiting Numerical Algorithms for Optimal Control

   Author : Isak Nielsen; Daniel Axehill; Anders Hansson; Eric Kerrigan; Linköpings universitet; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Numerical Optimal Control; Model Predictive Control; Riccati Recursion; Parallel Algorithms; Low-Rank Modifications; Parametric Programming; Optimization; Explicit MPC; Moving Horizon Estimation; Partial Condensing;

   Abstract : Numerical algorithms for efficiently solving optimal control problems are important for commonly used advanced control strategies, such as model predictive control (MPC), but can also be useful for advanced estimation techniques, such as moving horizon estimation (MHE). In MPC, the control input is computed by solving a constrained finite-time optimal control (CFTOC) problem on-line, and in MHE the estimated states are obtained by solving an optimization problem that often can be formulated as a CFTOC problem. READ MORE

5. 3. On Application Oriented Experiment Design for Closed-loop System Identification

   Author : Afrooz Ebadat; Bo Wahlberg; Torsten Söderström; KTH; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; system identification; closed-loop identification; experiment design for identification;

   Abstract : System identification concerns how to construct mathematical models of dynamic systems based on experimental data. A very important application of system identification is in model-based control design. In such applications it is often possible to externally excite the system during the data collection experiment. READ MORE

6. 4. Topics in Trajectory Generation for Robots

   Author : Mahdi Ghazaei; Institutionen för reglerteknik; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

   Abstract : A fundamental problem in robotics is generating the motion for a task. How to translate a task to motion or a series of movements is a non-trivial problem. READ MORE

7. 5. Modeling and Control of Air-based Actuated Robots

   Author : Andreas Papadimitriou; George Nikolakopoulos; Matteo Fumagalli; Luleå tekniska universitet; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

   Abstract : The aim of this thesis is to advance and increase the quality of the field of maintenance and exploration with the use of air-based robotic platforms. The fields that will be addressed are focusing on: a) Identification of adhesion system of climbing robots, b) the control of adhesion level and motion of climbing robots, c) the path planning based on constraints posed from platforms’ mobility characteristics and sensor requirements and d) The attitude control of a morphing Micro Aerial Vehicle (MAV) during in-flight structural re-configurations. READ MORE