Search for dissertations about: "Geometric control"

Showing result 1 - 5 of 91 swedish dissertations containing the words Geometric control.

  2. 1. Geometric Control of Thrust Propelled Systems

    Author : Pedro Miguel Ótão Pereira; Dimos V. Dimarogonas; Jana Tumova; Panagiotis Tsiotras; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; nonlinear control; geometric control; thrust propelled systems; slung load transportation; aerial tethered transportation; control of aerial vehicles; tracking and stabilization; global stabilization; bounded control; disturbance removal; distributed control; attitude synchronization; Electrical Engineering; Elektro- och systemteknik;

    Abstract : This thesis was motivated and inspired by the AEROWORKS project, a European research project, whose main goal was to deploy multiple heterogeneous unmanned aerial vehicles in environments where human intervention is restricted.In particular, this thesis focuses on control of aerial vehicles for the purposes of cargo transportation, an application of interest, for example, in inspection and maintenance of aging infrastructures. READ MORE

  4. 2. Geometric control methods for nonlinear systems and robotic applications

    Author : Claudio Altafini; KTH; []
    Keywords : Geometric control; Differential geometric methods; Nonlinear control systems; Control of mechanical systems; Robot dynamics and control; Lie groups; Variational problems; Group symmetry; Reachability; Switching systems;

    Abstract : .... READ MORE

  5. 3. Relative Information Based Distributed Control for Intrinsic Formations of Reduced Attitudes

    Author : Silun Zhang; Xiaoming Hu; Junfeng Wu; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Attitude control; distributed control; formation control; nonlinear systems; Mathematics; Matematik;

    Abstract : This dissertation concerns the formation problems for multiple reduced attitudes, which are extensively utilized in many pointing applications and under-actuated scenarios for attitude maneuvers. In contrast to most existing methodologies on formation control, the proposed method does not need to contain any formation errors in the protocol. READ MORE

  6. 4. Partitioning and Control for Dynamical Systems Evolving on Manifolds

    Author : Xiao Tan; Dimos V. Dimarogonas; James D. Biggs; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Partitioning and control; Transition system; Geometric control; Barrier functions; Electrical Engineering; Elektro- och systemteknik;

    Abstract : With the development and integration of cyber-physical and safety-critical systems, control systems are expected to achieve tasks that include logic rules, receptive decision-making, safety constraints, and so forth. For example, in a persistent surveillance application, an unmanned aerial vehicle might be required to "take photos of areas A and B infinitely often, always avoid unsafe region C, and return to the charging point when the battery level goes low. READ MORE

  7. 5. Geometric analysis of stochastic model errors in system identification

    Author : Jonas Mårtensson; Håkan Hjalmarsson; Michel Gevers; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automatic Control; Automatic control; Reglerteknik;

    Abstract : Models of dynamical systems are important in many disciplines of science, ranging from physics and traditional mechanical and electrical engineering to life sciences, computer science and economics. Engineers, for example, use models for development, analysis and control of complex technical systems. READ MORE