Sökning: "Control Barrier Function"

Visar resultat 1 - 5 av 22 uppsatser innehållade orden Control Barrier Function.

1. 1. Ensuring safe docking maneuvers on floating platform using Nonlinear Model Predictive Control (NMPC)

   Master-uppsats, Luleå tekniska universitet/Institutionen för system- och rymdteknik

   Författare :Federico Gatti; [2024]
   Nyckelord :Robotics; Space Engineering; Docking Maneuvers; Floating Platforms; Nonlinear MPC; MPC; Barrier function; PWM;

   Sammanfattning : Docking maneuvers are a relevant part of the modern space mission, requiring precision and safety to ensure the success of the overall mission. This thesis proposes using a non-linear Model Predictive Control (MPC) as a controller with various constraints to ensure safe docking maneuvers for a satellite. LÄS MER

3. 2. Multi-robot coordination and planning with human-in-the-loop under STL specifications : Centralized and distributed frameworks

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

   Författare :Yixiao Zhang; [2023]
   Nyckelord :Multi-agent systems; Human-in-the-loop systems; Signal temporal logic; Cooperative control; ROS Implementation; Multi-agent-system; Människa-i-loop-system; Signaltemporallogik; Samarbetande styrning; ROS-implementering;

   Sammanfattning : Recent urbanization and industrialization have brought tremendous pressure and challenges to modern autonomous systems. When considering multiple complex tasks, cooperation and coordination between multiple agents can improve efficiency in a system. LÄS MER

4. 3. On the Equivalence of Time-Varying CBF-Based Control and Prescribed Performance Control : Conversion and Qualitative Comparison

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

   Författare :Ryo Namerikawa; [2023]
   Nyckelord :Control Barrier Function; Invariance control; Nonlinear control; Prescribed Performance Control; Safety-critical system; Icke-linjär reglering; invariansreglering; säkerhetskritiska system; prestandasäkring;

   Sammanfattning : These days, a wide range of autonomous systems, such as automobiles, delivery drones, and embedded household systems, are becoming more and more common in our society. This trend is projected to continue in the future. To effectively manage these dynamic systems, ensuring their safe operation is crucial for the well-being of our lives. LÄS MER

5. 4. Control Barrier Functions for Formation Control of Leader-follower Multi-agent Systems

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

   Författare :Tianrun Sun; [2023]
   Nyckelord :Multi-agent System; Leader-follower System; Formation Control; Control Barrier Function; Connectivity Maintenance; Multi-agent-system; Leader-follower-system; Formations Kontroll; Kontroll Barriär Funktion; Underhåll av Anslutningsmöjligheter;

   Sammanfattning : This thesis studies formation control for a class of general leader-follower multi-agent systems with Control Barrier Functions (CBFs) such that connectivity maintenance is fulfilled for all the neighboring agents. In leader-follower multi-agent systems, only the leader agents are controlled by the externally designed input, while the followers are guided through their dynamic couplings with the neighboring agents. LÄS MER

7. 5. Does in vivo exposure to perfluorooctanesulfonicacid induce an altered colonic barrier function inmice?

   Kandidat-uppsats, Örebro universitet/Institutionen för medicinska vetenskaper

   Författare :Hanna-Dalia Laar; [2022]
   Nyckelord :PFOA; PFAS; Ulcerative colitis; colon barrier; gastrointestinal permeability; Ussing Chamber;

   Sammanfattning : Background: Several environmental risk factors have been implicated in the pathogenesis ofinflammatory bowel disease (IBD) and might cause an altered barrier function, a hallmark ofIBD. Recent evidence suggests that patients with late-onset ulcerative colitis (UC) have anincreased serum level of perfluoroalkyl substances (PFAS), one of the major chemical groupscontaminating our diet. LÄS MER