Search for dissertations about: "reglerteknik"
Showing result 1 - 5 of 777 swedish dissertations containing the word reglerteknik.
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1. Minimum-time sliding mode control of robot manipulators
University dissertation from Örebro : Örebro universitetsbibliotekAbstract : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. READ MORE
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2. Modeling and Control of Bilinear Systems Application to the Activated Sludge Process
University dissertation from Uppsala : Acta Universitatis UpsaliensisAbstract : This thesis concerns modeling and control of bilinear systems (BLS). BLS are linear but not jointly linear in state and control. In the first part of the thesis, a background to BLS and their applications to modeling and control is given. READ MORE
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3. Parameter and State Estimation with Information-rich Signals
University dissertation from Uppsala : Acta Universitatis UpsaliensisAbstract : The complexity of industrial systems and the mathematical models to describe them increases. In many cases, point sensors are no longer sufficient to provide controllers and monitoring instruments with the information necessary for operation. The need for other types of information, such as audio and video, has grown. READ MORE
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4. Statistical Calibration Algorithms for Lidars
University dissertation from Luleå : Luleå tekniska universitetAbstract : Robots are becoming increasingly available and capable, are becoming part of everyday life in applications: robots that guide blind or mentally handicapped people, robots that clean large office buildings and department stores, robots that assist people in shopping, recreational activities, etc.Localization, in the sense of understanding accurately one's position in the environment, is a basic building block for performing important tasks. READ MORE
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5. Towards Aerial Robotic Workers
University dissertation from Luleå tekniska universitetAbstract : The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. READ MORE
