Sökning: "nonlinear model predictive control"

Visar resultat 1 - 5 av 39 uppsatser innehållade orden nonlinear model predictive control.

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. Data-Driven Adaptive Control of Unmanned Surface Vehicles Using Learning-Based Model Predictive Control

   Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

   Författare :Markus Svedberg; [2023]
   Nyckelord :Technology and Engineering;

   Sammanfattning : In this thesis, the subject of data-driven control of Unmanned Surface Vehicles (USVs) is explored. The control task is formulated through Nonlinear Model Predictive Path Following Control (NMPFC). System identification (SYSID) and Reinforcement Learning (RL) are employed to improve performance in a data-driven manner. LÄS MER

5. 4. 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

7. 5. 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