Sökning: "Nonlinear constraints"

Visar resultat 1 - 5 av 42 uppsatser innehållade orden Nonlinear constraints.

  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. The Implementation and Evaluation of Learning Approaches to State Filtering

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

    Författare :Anna Wilhelmsson; [2022]
    Nyckelord :;

    Sammanfattning : State estimation uses measurements of a system’s output to estimate the state. A particular method within state estimation is filtering, which estimates the state using measurements up to and including the current time. LÄS MER

  5. 4. A Trust-Region Method for Multiple Shooting Optimal Control

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

    Författare :Shaohui Yang; [2022]
    Nyckelord :Trust Region Method; Optimal Control; Model Predictive Control; Sequential Quadratic Programming; Quadratic Programming; Inde_nte Hessian; Mobile Robots; Trust Region Method; Optimal Control; Model Predictive Control; Sekventiell kvadratisk programmering; kvadratisk programmering; obestämd hessian; mobila robotar;

    Sammanfattning : In recent years, mobile robots have gained tremendous attention from the entire society: the industry is aiming at selling more intelligent products while the academia is improving their performance from all perspectives. Real world examples include autnomous driving vehicles, multirotors, legged robots, etc. LÄS MER

  7. 5. B-spline Parametrized Approximation and Variation of Vehicle Trajectories For Autonomous Vehicles Simulation

    Master-uppsats, KTH/Matematik (Avd.)

    Författare :Karolina Siemieniuk; [2021]
    Nyckelord :;

    Sammanfattning : A big focus of the Automotive Industry’s work is now on the development ofAutonomous Vehicles (AVs). In order to be able to release them on the market,they need to be tested and validated in a safe and efficient way. That is whycompanies working on the development of AVs use simulation to test the workthey are completing. LÄS MER