Essays about: "Lyapunov-based Control."

Showing result 1 - 5 of 6 essays containing the words Lyapunov-based Control..

  1. 1. Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test

    University essay from KTH/Skolan för elektro- och systemteknik (EES)

    Author : Riccardo Riccardo Zanella; [2016]
    Keywords : Mobile Manipulation; Aerial Robots; Quadrotor; Backstepping; Lyapunov-based Control.;

    Abstract : This work considers an aerial robot system composed of an Unmanned Aerial Vehicle (UAV) and a rigid manipulator, to be employed in mobile manipulation tasks. The strategy adopted for accomplishing the aerial manipulation is a decomposition of the previous system in two decoupled subsystems: one concerning the center of mass of the aerial robot; and another concerning the manipulator's orientation. READ MORE

  3. 2. Design, Modeling and Control of an Octocopter

    University essay from KTH/Optimeringslära och systemteori

    Author : Oscar Oscarson; [2015]
    Keywords : ;

    Abstract : This master’s thesis project from the Department of Mathematics at KTH, Royal Institute of Technology, Stockholm, Sweden was carried out at Saab Dynamics, Linköping, Sweden. In this thesis, an octocopter was studied, which is a multirotor vehicle, a rotorcraft with more than two rotors. READ MORE

  4. 3. Coordinated Control for Multiple Autonomous Underwater Vehicles

    University essay from KTH/Reglerteknik

    Author : Naomi Anveden Hertzberg; [2014]
    Keywords : ;

    Abstract : This thesis discusses self- and event-triggered control for collective motion of autonomous underwater vehicles, for which rules are derived and analysed. The purpose is to enable coordinated underwater motion for agents that can not update their knowledge of the states of the group while submerged. READ MORE

  5. 4. Event-Triggered Attitude Stabilization of a Quadcopter

    University essay from KTH/Reglerteknik

    Author : Diogo Almeida; [2014]
    Keywords : Non-linear control; Attitude stabilization; Event-triggering; Quadcopter;

    Abstract : There are many possible ways to perform the attitude control of a quadcopter and, recently, the subject of event-triggered control has become relevant in the scientic community. This thesis deals with the analysis and implementation of a saturating attitude controller for a quadcopter system, together with the derivation of an event-triggering rule to work with it. READ MORE

  6. 5. Guidance and Control of a Naval Cruise Missile

    University essay from KTH/Reglerteknik

    Author : Damien Le Voyer; [2008]
    Keywords : ;

    Abstract : Today the armed forces of many countries need to strike accurately potential enemies, wherever they might be, from a safe place. Since naval units can be deployed almost everywhere in the open sea, the idea of a naval cruise missile emerged in the 70’s. READ MORE