Search for dissertations about: "nonlinear model predictive control for autonomous vehicles"

Showing result 1 - 5 of 6 swedish dissertations containing the words nonlinear model predictive control for autonomous vehicles.

  1. 1. Nonlinear Model Predictive Control for Autonomous Vehicles

    University dissertation from Gothenburg : Chalmers tekniska högskola

    Author : Paolo Falcone; [2007]
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Abstract : In this thesis we consider the problem of designing and implementing Model Predictive Controllers (MPC) for stabilizing the dynamics of an autonomous ground vehicle. For such a class of systems, the non-linear dynamics and the fast sampling time limit the real-time implementation of MPC algorithms to local and linear operating regions. READ MORE

  2. 2. Autonomous and Cooperative Landings Using Model Predictive Control

    University dissertation from Stockholm : KTH Royal Institute of Technology

    Author : Linnea Persson; KTH.; [2019]
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; cooperative control; autonomous landings; rendezvous; UAV; drone; USV; Electrical Engineering; Elektro- och systemteknik;

    Abstract : Cooperation is increasingly being applied in the control of interconnected multi-agent systems, and it introduces many benefits. In particular, cooperation can improve the efficiency of many types of missions, and adds flexibility and robustness against external disturbances or unknown obstacles. READ MORE

  3. 3. On Autonomous Articulated Vehicles

    University dissertation from Luleå : Luleå tekniska universitet

    Author : Thaker Nayl; Luleå tekniska universitet.; [2015]
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Control Engineering;

    Abstract : The objective of this thesis is to address the problems of modeling, path planning and path following for an articulated vehicle in a realistic environment and in the presence of multiple obstacles.In greater detail, the problem of the kinematic modeling of an articulated vehicle is revisited through the proposal of a proper model in which the dimensions and properties of the vehicle can be fully described, rather than considering it as a unit point. READ MORE

  4. 4. Fuel-efficient and safe heavy-duty vehicle platooning through look-ahead control

    University dissertation from Stockholm : KTH Royal Institute of Technology

    Author : Valerio Turri; KTH.; [2015]
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; platooning; eco-driving; look-ahead control; dynamic programming; distributed model predictive control; optimal control; autonomous vehicles; Electrical Engineering; Elektro- och systemteknik; Farkostteknik; Vehicle and Maritime Engineering;

    Abstract : The operation of groups of heavy-duty vehicles at small inter-vehicular distances, known as platoons, lowers the overall aerodynamic drag and, therefore, reduces fuel consumption and greenhouse gas emissions. Experimental tests conducted on a flat road and without traffic have shown that platooning has the potential to reduce the fuel consumption up to 10%. READ MORE

  5. 5. Cooperative and Interaction Control for Underwater Robotic Vehicles

    University dissertation from National Technical University of Athens

    Author : Shahab Heshmati-Alamdari; [2018]
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Marine robotics; Robotics; Underwater Vehicle Manipulator Systems; Cooperative manipulations; Visual servoing; Nonlinear Model Predictive Control; Autonomous Underwater Vehicles; Industriella informations- och styrsystem; Industrial Information and Control Systems; Farkostteknik; Vehicle and Maritime Engineering;

    Abstract : In this dissertation we address the problem of robust control for underwater robotic vehicles under resource constraints and inspired by practical applications in the field of marine robotics. By the term “resource constraints” we refer to systems with constraints on communication, sensing and energy resources. READ MORE