Sökning: "tillståndsåterkoppling"
Visar resultat 1 - 5 av 12 uppsatser innehållade ordet tillståndsåterkoppling.
1. Extended Kalman Filter as Observer for a Hydrofoiling Watercraft : Modelling of a new hydrofoiling concept, based on the Spherical Inverted Pendulum Model
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : Hydrofoiling in general has the potential to revolutionize watercraft in the future since it allows smoother and faster transport on water with less energy consumption than traditional planning hulls. Even if the concept of hydrofoiling has been around since the last century, development in control theory and material science together with increased computing power has led to a growing interest for the technology. LÄS MER
2. Optimal Control Model for an Autonomous Underwater Vehicle
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : The main goal with this thesis was to develop an optimal control model for anautonomous underwater vehicle (AUV) and evaluate whether reference trackingusing Model Predictive Control (MPC) based on a linear dynamics modeldescribing all six degrees of freedom (DOF) is a suitable method for waypointnavigation. MPC is an advanced receding horizon optimal control method capableof including constraints in the optimization. LÄS MER
3. Reinforcement Learning of Repetitive Tasks for Autonomous Heavy-Duty Vehicles
Uppsats för yrkesexamina på avancerad nivå, Uppsala universitet/Avdelningen för systemteknikSammanfattning : Many industrial applications of heavy-duty autonomous vehicles include repetitive manoeuvres, such as, vehicle parking, hub-to-hub transportation etc. This thesis explores the possibility to use the information from previous executions, via reinforcement learning, of specific manoeuvres to improve the performance for future iterations. LÄS MER
4. Stabilisering av fyrhjuliga terrängfordon med tillståndsåterkoppling
Kandidat-uppsats, KTH/Skolan för teknikvetenskap (SCI)Sammanfattning : Då fyrhjuliga terrängfordon i allmänhet har en hög tyngdpunkt så har de en benägenhet att lätt välta, även vid relativt små störningar. Att minska utsträckningen som denna typ av olyckor sker har vinning för både individ och samhälle. LÄS MER
5. Tailing Service Droid
Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)Sammanfattning : This project aims to build an electric powered robot, that by utilizing infrared light, recognizes a device carried by the user. The robot built in this project utilizes swivel wheel similar to car wheels for steering over the more conventional differential steering/drive. LÄS MER