Search for dissertations about: "funnel control"
Showing result 1 - 5 of 12 swedish dissertations containing the words funnel control.
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1. Funnel-Based Control for Coupled Spatiotemporal Specifications
Abstract : In the past decade, the integration of spatiotemporal constraints into control systems has emerged as a crucial necessity, driven by the demand for enhanced performance, guaranteed safety, and the execution of complex tasks. Spatiotemporal constraints involve criteria that are dependent on both space and time, which can be represented by time-varying constraints in nonlinear control systems. READ MORE
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2. Planning and Control of Uncertain Cooperative Mobile Manipulator-Endowed Systems under Temporal Logic Tasks
Abstract : Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning and control of multi-agent systems under temporal logic tasks. READ MORE
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3. Path integral control endowed robot planning under spatiotemporal logic specifications
Abstract : The increasing level of autonomy and intelligence of robotic systems in carrying out complex tasks can be expected to revolutionize both the industry and our everyday lives. This thesis takes a step towards automation by leveraging the power of path integral control (PIC) methods for solving control problems under such task satisfaction constraints in both a stochastic control and a reinforcement learning setting. READ MORE
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4. Transient Control for Leader-follower Multi-agent Systems with Application to Spatiotemporal Logic Tasks
Abstract : Over the past few decades, significant research has been directed towards addressing the problem of distributed control of multi-agent systems. The overall tasks include consensus, formation, flocking, and coverage control with the wide applications in multi-robot coordination, manufacturing and intelligent transportation systems. READ MORE
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5. Trajectory Tracking and Prediction-Based Coordination of Underactuated Unmanned Vehicles
Abstract : In this thesis, we study trajectory tracking and prediction-based control of underactuated unmanned aerial and surface vehicles. In the first part of the thesis, we examine the trajectory tracking using prescribed performance control (PPC) assuming that the model parameters are unknown. READ MORE