Sökning: "Double Integrator Model"

Visar resultat 1 - 5 av 6 uppsatser innehållade orden Double Integrator Model.

  1. 1. Toward Adaptation of Data Enabled Predictive Control for Nonlinear Systems

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

    Författare :Hashem Ghasemi; [2022]
    Nyckelord :DeePC; Data Driven Control; Nonlinear System; Non-holonomic Ground Robot; Double Integrator Model; Inverted Pendulum.; DeePC; Datadriven Kontroll; Icke-linjärt System; Icke-holonomisk Markrobot; Dubbelintegratormodell; Inverterad Pendel;

    Sammanfattning : With the development of technology and availability of data, it is sometimes easier to learn the control policies directly from the data, rather than modeling a plant and designing a controller. Modeling a plant is not always possible due to the complexity of the plant. LÄS MER

  3. 2. Collaborative Control of Autonomous Ground Vehicles

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

    Författare :Moa Säll; Gustav Thorén; [2022]
    Nyckelord :autonomous ground vehicles; trajectory tracking; formation control; collision avoidance; repulsion field;

    Sammanfattning : Autonomous ground vehicles (AGVs) is a growing field within research. AGVs are used in areas like reconnaissance,surveillance, transportation and self-driving cars. The goal of this project is to drive a system of five AGVs modelled as differential drive vehicles along an arbitrary path through a field of obstacles while holding a formation. LÄS MER

  4. 3. Cooperative Control of Autonomous Ground Vehicles

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

    Författare :Mohammed Akif; Sebastian Geivald; [2021]
    Nyckelord :Trajectory tracking; Formation control; Collision avoidance; multi-agent system; Autonomous ground vehicles;

    Sammanfattning : As autonomous ground vehicles grow in popularity,it is of interest to study how they could coordinate together andhow the technical systems can be implemented in a safe andeffective manner. The objective of this report is to examine howto autonomously move a formation of vehicles without collisionswith obstacles or other vehicles. LÄS MER

  5. 4. Average Consensus with Prescribed Performance Guarantees for Multi-agent Double-Integrator Systems

    Master-uppsats, KTH/Reglerteknik

    Författare :Luca Macellari; [2015]
    Nyckelord :;

    Sammanfattning : The problem of consensus reaching with prescribed transient behaviour for a group of agents with dynamics described by a double integrator model is addressed. In order to achieve prescribed performance we employ an appropriately designed transformation of the output error, that reects performance speci- cations such as minimum speed of convergence, maximum allowed overshoot and steady state error. LÄS MER

  7. 5. Crowd Control of Nonlinear Systems

    Master-uppsats, KTH/Reglerteknik

    Författare :Fredrik Grönberg; [2013]
    Nyckelord :;

    Sammanfattning : We study a multi-agent system in R2 where agents have unicycle dynamics with time varying speed and control inputs corresponding to acceleration and angular velocity. The system has a dynamic communication topology based on proximity. LÄS MER