Search for dissertations about: "direct collocation"

Showing result 1 - 5 of 8 swedish dissertations containing the words direct collocation.

2. 1. Numerical and Symbolic Methods for Dynamic Optimization

   Author : Fredrik Magnusson; Institutionen för reglerteknik; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; dynamic optimization; differential-algebraic equations; Modelica; direct collocation; block-triangular ordering;

   Abstract : Mathematical optimization is becoming increasingly important for engineering in general and control in particular. This thesis deals with numerical methods, primarily direct collocation, and symbolic methods, primarily block-triangular ordering and tearing, for numerical solution of general dynamic optimization problems involving dynamical systems modeled by large-scale differential-algebraic equations (DAE). READ MORE

4. 2. Online trajectory planning and observer based control

   Author : David A. Anisi; Xiaoming Hu; Daizhan Cheng; KTH; []
   Keywords : NATURVETENSKAP; NATURAL SCIENCES; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Consensus Problem; Simultaneous Arrival; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori;

   Abstract : The main body of this thesis consists of four appended papers. The first two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. READ MORE

5. 3. Uncertainty quantification for high frequency waves

   Author : Gabriela Malenova; Olof Runborg; Fabio Nobile; KTH; []
   Keywords : NATURVETENSKAP; NATURAL SCIENCES; Mathematics; Matematik;

   Abstract : We consider high frequency waves satisfying the scalar wave equation with highly oscillatory initial data represented by a short wavelength ε. The speed of propagation of the medium as well as the phase and amplitude of the initial data is assumed to be uncertain, described by a finite number of independent random variables with known probability distributions. READ MORE

6. 4. On Cooperative Surveillance, Online Trajectory Planning and Observer Based Control

   Author : David A. Anisi; Xiaoming Hu; Randal Beard; KTH; []
   Keywords : NATURVETENSKAP; NATURAL SCIENCES; Surveillance Missions; Minimum-Time Surveillance; Unmanned Ground Vehicles; Connectivity Constraints; Combinatorial Optimization; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori; Applied mathematics; Tillämpad matematik;

   Abstract : The main body of this thesis consists of six appended papers. In the  first two, different  cooperative surveillance problems are considered. The second two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. READ MORE

7. 5. Design of Optimal Control Processes for Closed-Loop Chain SCARA-Like Robots

   Author : Mathias R Lidberg; Chalmers tekniska högskola; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; unpowered actuator.; SCARA-robot; closed-loop chain; manipulator;

   Abstract : The design of optimal control processes for closed-loop chain SCARA-like robots is the subject of this thesis. In comparison with the well-known SCARA robot, the proposed new structure is characterized by the incorporation of an additional powered actuator, several unpoweredactuators and an additional link that gives a closed-loop chain robot. READ MORE