Sökning: "Model Reference Controller"

Visar resultat 21 - 25 av 118 uppsatser innehållade orden Model Reference Controller.

  1. 21. Modeling and Evaluation of Turret Control Systems for Main Battle Tanks

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

    Författare :Mikael Lyth; [2021]
    Nyckelord :Main Battle Tank; PID control; Sliding Mode Control; Model Predictive Control; Two-axis gimbal system; Stridsvagn; PID reglering; SMC; Prediktionsreglering; Tvåaxligt gimbalsystem;

    Sammanfattning : The aim of the thesis was to implement and compare control methods in a model of a main battle tank. Three controllers were implemented in a two axis gimbal model and their performances were compared. LÄS MER

  3. 22. Runtime cross-layer optimization for visual-inertial localization on resource-constrained devices

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

    Författare :Jessica Ivy Kelly; [2021]
    Nyckelord :Cross-layer optimization; Resource management; Resource-constrained devices; Runtime control; Visual-inertial localization.;

    Sammanfattning : An increasing number of complex applications are being executed on resource constrained devices, such as drones and rovers. Such systems often operate in dynamic and unknown environments, and consequently have dynamic performance requirements based on their surroundings. LÄS MER

  4. 23. Path Following Model Predictive Control for Center-Articulated Vehicles

    Master-uppsats, Uppsala universitet/Signaler och system

    Författare :Gustav Vallinder; [2021]
    Nyckelord :NMPC; MPC; nonlinear model predictive control; model predictive control; path following; mining vehicles.;

    Sammanfattning : Increased safety and productivity are driving factors for the trend in the mining industry where equipment and machines increasingly get automated. An example is the load-haul-dump vehicle, which is a machine that is used for transport of ore in underground mines. LÄS MER

  5. 24. Learning model predictive control with application to quadcopter trajectory tracking

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

    Författare :Abhishek Maji; [2020]
    Nyckelord :Data driven; iterative learning control; learning; optimal control; predictive control; Datadriven; iterativ inlärningskontroll; inlärning; optimal kontroll; förutsägbar kontroll;

    Sammanfattning : In thiswork, we develop a learning model predictive controller (LMPC) for energy-optimaltracking of periodic trajectories for a quadcopter. The main advantage of this controller isthat it is “reference-free”. Moreover, the controller is able to improve its performance overiterations by incorporating learning from the previous iterations. LÄS MER

  7. 25. Modeling and Lateral Control of Tractor-Trailer Vehicles during Aggresive Maneuvers

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Carl Hynén Ulfsjöö; Theodor Westny; [2020]
    Nyckelord :;

    Sammanfattning : In the last decades, the development of self-driving vehicles has rapidly increased. Improvements in algorithms, as well as sensor and computing hardware have led to self-driving technologies becoming a reality. It is a technology with the potential to radically change how society interacts with transportation. LÄS MER