Essays about: "model predictivecontrol"
Found 5 essays containing the words model predictivecontrol.
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1. Autonomous Overtaking Using Model Predictive Control
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : For the past couple of years researchers around theworld have tried to develop fully autonomous vehicles. One of theproblems that they have to solve is how to navigate in a dynamicworld with ever-changing variables. This project was initiated tolook into one scenario of the path planning problem; overtakinga human driven vehicle. READ MORE
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2. Cooperative Transportation of Mobile Manipulators With Collision Avoidance
University essay from KTH/ReglerteknikAbstract : In this work, we propose two Nonlinear Model Predictive Control(NMPC) schemes, Decentralized Nonlinear Model Predictive Control(DNMPC) and Centralized Nonlinear Model Predictive Control (CNMPC),for cooperative transportation of an object, which is rigidlygrasped by N agents. We use feedback linearization and model reductionto reduce overall complexity of the model. READ MORE
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3. Combined Attitude and Orbital MPC for Thruster Based Spacecrafts
University essay from KTH/ReglerteknikAbstract : A spacecraft needs to simultaneously provide orbital and attitude controlbut these are in general treated as separate systems. Normally the attitudecontrol is conducted via reaction wheels but can in scenarios with high manoeuvrabilitydemands be handed over to pure thruster control. READ MORE
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4. Implementation of Model PredictiveControl for Path Following with the KTH Research Concept Vehicle
University essay from KTH/ReglerteknikAbstract : Trends in research show the interest of autonomously driving cars. One topic within autonomousdriving is path following, which is the topic studied in this project. More specically, development and implementation of model predictive control for path following. A numberof model predictive controllers are developed. READ MORE
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5. Sensor Fusion for Heavy Duty Vehicle Platooning
University essay from Reglerteknik; Tekniska högskolanAbstract : The aim of platooning is to enable several Heavy Duty Vehicles (HDVs) to drive in a convoy and act as one unit to decrease the fuel consumption. By introducing wireless communication and tight control, the distance between the HDVs can be decreased significantly. READ MORE