Sökning: "Linjär kvadratisk regulator"

Visar resultat 1 - 5 av 7 uppsatser innehållade orden Linjär kvadratisk regulator.

1. 1. Quadcopter Control System Design and Implementation with LQR assisted by Kalman Filter: An Experimental Study

   Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

   Författare :Ludwig Horvath; Martin Petré; [2023]
   Nyckelord :;

   Sammanfattning : This study stems from the audacious assumption that two bachelor students could successfully construct a functional quadcopter from scratch, covering both software and hardware aspects. The project begins by establishing a foundation for modeling the quadcopter dynamics, including derivation and linearization techniques for implementing a linear quadratic regulator (LQR). LÄS MER

3. 2. Continuous Control SetModel Predictive Control of Permanent Magnet Synchronous Motor

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

   Författare :Prithivirajan Subramaniyane; [2022]
   Nyckelord :Interior permanent magnet synchronous motor; Continuous control set-Model predictive control; Linear quadratic regulator; Quadratic programming; Interior permanent magnet synchronous motor; Continuous control set-Model predictive control; Linear quadratic regulator; Quadratic programming;

   Sammanfattning : The thesis provides design methods for developing Continuous Control SetModel Predictive Control and Linear Quadratic Regulator for Interior mounted Permanent Magnet Synchronous Motor drive. The software for these controllers are implemented in the prototype motor at China Euro Vehicle Technology (CEVT) to estimate the computation time. LÄS MER

4. 3. Comparison of control strategies for manipulating a Hydrobatic Autonomous Underwater Vehicle

   Master-uppsats, KTH/Mekatronik

   Författare :Chariklia Panteli; [2021]
   Nyckelord :Autonomous Underwater Vehicle; AUV; Gripper; Manipulator; Controlcomparison; Linear Quadratic Regulator; LQR; PID; Model Predictive Controller; MPC; Autonomt undervattensfordon; AUV; Gripper; Manipulator; Kontrolljämförelse; Linjär kvadratisk regulator; LQR; PID; Modell Predictive Controller; MPC;

   Sammanfattning : This master thesis project is focused on the development of an LQR controller and its comparison with other controllers (PID and MPC), in order to successfully control an Autonomous Underwater Vehicle manipulation system. The modelling of the manipulator was performed first in Matlab and later on in Simulink-Simscape. LÄS MER

5. 4. Thrust Allocation for Jet Driven Surface Vessels

   Master-uppsats, KTH/Mekatronik

   Författare :Ludwig Nyberg; [2020]
   Nyckelord :;

   Sammanfattning : Dynamic positioning systems have been under development since the first implementation in the early 1960s. The purpose of a dynamic position system is to allow for automatic positioning of a vessel when circumstances do not allow for mooring or anchoring. LÄS MER

7. 5. Control and balancing of a small vehicle with two wheels for autonomous driving

   Master-uppsats, KTH/Fordonsdynamik

   Författare :Saro Batmanian; Pasam Naga; [2019]
   Nyckelord :Inverted pendulum; PID controller; Pole placement method; LQR; Hoverboard; Segways; Prototype; Arduino board; Gyroscope; Accelerometer; BLDC motor controllers; EPOS motor controllers; Embedded systems and control and bluetooth remote.;

   Sammanfattning : Control and balancing of an inverted pendulum has gained a lot of attention over the past few decades due to its unstable properties. This has become a great challenge for control engineers to verify and test the control theory. LÄS MER