Search for dissertations about: "geometric control"

Showing result 16 - 20 of 91 swedish dissertations containing the words geometric control.

  2. 16. Modeling and Control of Stiff Robots for Flexible Manufacturing

    Author : Isolde Dressler; Institutionen för reglerteknik; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Abstract : To survive on a global market, small and medium size enterprises (SMEs) require affordable and competitive industrial automation for high quality flexible manufacturing. This thesis contributes to the development of robot concepts that fit the needs of SMEs. READ MORE

  4. 17. 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. 18. Towards Safer and Risk-aware Motion Planning and Control for Robotic Systems

    Author : Fernando S. Barbosa; Jana Tumova; Stephen Smith; KTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Computer Science; Datalogi;

    Abstract : Safety and risk-awareness are important properties for robotic systems, be it for protecting them from potentially dangerous internal states, or for avoiding collisions with obstacles and environmental hazards in disaster scenarios. Ensuring safety may be the role of more than one algorithmic layer in a system, each with varying assumptions and guarantees. READ MORE

  6. 19. Identification of Modules in Acyclic Dynamic Networks A Geometric Analysis of Stochastic Model Errors

    Author : Niklas Everitt; Håkan Hjalmarsson; Martin Enquist; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Abstract : .... READ MORE

  7. 20. Intrinsic Formation and Macroscopic Intervention in Multi-agent Systems

    Author : Silun Zhang; Xiaoming Hu; Johan Karlsson; Jorge Goncalves; KTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Attitude control; agents and autonomous systems; distributed control; formation control; nonlinear systems; moment based modelling; large- scale systems; reduced order modeling; nonlinear system identification; Mathematics; Matematik;

    Abstract : In this dissertation, we study two problems within the field of the multi-agent systems theory. One is the formation control for multiple reducedattitudes, which are extensively utilized in many pointing applications and under-actuated scenarios for attitude maneuvers. READ MORE