Sökning: "model predictivecontrol"

Hittade 5 uppsatser innehållade orden model predictivecontrol.

  1. 1. Autonomous Overtaking Using Model Predictive Control

    Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Oscar Larsen; [2020]
    Nyckelord :Path planning; path tracking; model predictivecontrol; autonomous vehicle; collision avoidance;

    Sammanfattning : For the past couple of years researchers around theworld have tried to develop fully autonomous vehicles. One of theproblems that they have to solve is how to navigate in a dynamicworld with ever-changing variables. This project was initiated tolook into one scenario of the path planning problem; overtakinga human driven vehicle. LÄS MER

  3. 2. Cooperative Transportation of Mobile Manipulators With Collision Avoidance

    Master-uppsats, KTH/Reglerteknik

    Författare :Yu Wang; [2018]
    Nyckelord :;

    Sammanfattning : In this work, we propose two Nonlinear Model Predictive Control(NMPC) schemes, Decentralized Nonlinear Model Predictive Control(DNMPC) and Centralized Nonlinear Model Predictive Control (CNMPC),for cooperative transportation of an object, which is rigidlygrasped by N agents. We use feedback linearization and model reductionto reduce overall complexity of the model. LÄS MER

  4. 3. Combined Attitude and Orbital MPC for Thruster Based Spacecrafts

    Master-uppsats, KTH/Reglerteknik

    Författare :Joakim Lilja; [2017]
    Nyckelord :;

    Sammanfattning : A spacecraft needs to simultaneously provide orbital and attitude controlbut these are in general treated as separate systems. Normally the attitudecontrol is conducted via reaction wheels but can in scenarios with high manoeuvrabilitydemands be handed over to pure thruster control. LÄS MER

  5. 4. Implementation of Model PredictiveControl for Path Following with the KTH Research Concept Vehicle

    Master-uppsats, KTH/Reglerteknik

    Författare :Pontus Belvén; [2015]
    Nyckelord :;

    Sammanfattning : Trends in research show the interest of autonomously driving cars. One topic within autonomousdriving is path following, which is the topic studied in this project. More specically, development and implementation of model predictive control for path following. A numberof model predictive controllers are developed. LÄS MER

  7. 5. Sensor Fusion for Heavy Duty Vehicle Platooning

    Master-uppsats, Reglerteknik; Tekniska högskolan

    Författare :Sanna Nilsson; [2012]
    Nyckelord :Extended Kalman Filter; EKF; platooning; sensor fusion;

    Sammanfattning : The aim of platooning is to enable several Heavy Duty Vehicles (HDVs) to drive in a convoy and act as one unit to decrease the fuel consumption. By introducing wireless communication and tight control, the distance between the HDVs can be decreased significantly. LÄS MER