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Found 3 essays matching the above criteria.

  1. 1. Automatic Tuning of Motion Control System for an Autonomous Underwater Vehicle

    University essay from Linköpings universitet/Reglerteknik

    Author : Markus Andersson; [2019]
    Keywords : Automatic Control; Automatic Tuning; Control; Motion Control; Modelling; System Identification; Online Identification; Underwater Vehicle; Autonomous Underwater Vehicle; AUV; SMaRC; Maribot LoLo; Differential drive;

    Abstract : The interest for marine research and exploration has increased rapidly during the past decades and autonomous underwater vehicles (AUV) have been found useful in an increased amount of applications. The demand for versatile platform AUVs, able to perform a wide range of tasks, has become apparent. READ MORE

  3. 2. An Investigation into the Optimal Control Methods in Over-actuated Vehicles : With focus on energy loss in electric vehicles

    University essay from KTH/Fordonsdynamik; KTH/Integrated Transport Research Lab, ITRL

    Author : Sriharsha Bhat; [2016]
    Keywords : Optimal control; over-actuated vehicles; Dynamic Programming; Model Predictive Control; active;

    Abstract : As vehicles become electrified and more intelligent in terms of sensing, actuation and processing; a number of interesting possibilities arise in controlling vehicle dynamics and driving behavior. Over-actuation with inwheel motors, all wheel steering and active camber is one such possibility, and can facilitate control combinations that push boundaries in energy consumption and safety. READ MORE

  4. 3. Optimal Vehicle Speed Control Using a Model Predictive Controller for an Overactuated Vehicle

    University essay from Linköpings universitet/Fordonssystem; Linköpings universitet/Tekniska fakulteten

    Author : Mathias Mattsson; Rasmus Mehler; [2015]
    Keywords : MPC; Overactuated; Control Allocation; Vehicle Dynamics; Speed Control;

    Abstract : To control the speed of an overactuated vehicle there may be many possible ways to use the actuators of the car achieving the same outcome. The actuators in an ordinary car is a combustion engine and a friction brake. In some cases it is trivial how to coordinate actuators for the optimal result, but in many cases it is not. READ MORE