Essays about: "Linear Time Varying Model Predictive Control"

Showing result 1 - 5 of 13 essays containing the words Linear Time Varying Model Predictive Control.

1. 1. Control of an Over-Actuated Vehicle for Autonomous Driving and Energy Optimization : Development of a cascade controller to solve the control allocation problem in real-time on an autonomous driving vehicle

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Gianmarco Grandi; [2023]
   Keywords : LTV-MPC Linear Time-Varying Model Predictive Controller ; Trajectory following; Energy consumption; Vehicle stability; Vehicle model; Real-time performance; LTV-MPC Controllo a predizione del modello lineare tempo variabile ; Inseguimento di traiettoria; Consumo energetico; Stabilità del veicolo; Modello del veicolo; Prestazioni in tempo reale; LTV-MPC Linjär tidsvariabel modellförutsägande styrning ; spårföljning; energiförbrukning; fordonsstabilitet; fordonsmodell; prestanda i realtid;

   Abstract : An Over-Actuated (OA) vehicle is a system that presents more control variables than degrees of freedom. Therefore, more than one configuration of the control input can drive the system to a desired state in the state space, and this redundancy can be exploited to fulfill other tasks or solve further problems. READ MORE

3. 2. Learning-Based Motion Planning and Control of a UGV With Unknown and Changing Dynamics

   University essay from Linköpings universitet/Reglerteknik

   Author : Åke Johansson; Joel Wikner; [2021]
   Keywords : machine learning; model predictive control; motion planning; Bayesian linear regression; motion primitives; input sampling; hybrid A*;

   Abstract : Research about unmanned ground vehicles (UGVs) has received an increased amount of attention in recent years, partly due to the many applications of UGVs in areas where it is inconvenient or impossible to have human operators, such as in mines or urban search and rescue. Two closely linked problems that arise when developing such vehicles are motion planning and control of the UGV. READ MORE

4. 3. Learning model predictive control with application to quadcopter trajectory tracking

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

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

   Abstract : 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. READ MORE

5. 4. Optimal Control Model for an Autonomous Underwater Vehicle

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Gustav Holm; [2020]
   Keywords : ;

   Abstract : 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. READ MORE

6. 5. Informative path planning for algae farm surveying

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Corentin Guy Claude Chauvin-Hameau; [2020]
   Keywords : ;

   Abstract : Algae farms need to be regularly monitored to control growth rate or check for signs of diseases. As marine farms are setup farther from the coasts, the need for developing robots capable of carrying out these tasks autonomously increases. This thesis investigates trajectory generation for an underwater robot monitoring an algae farm. READ MORE