Dissertationen zum Thema „Nonlinear dynamic system modeling and control“
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Kaisare, Niket S. „Modeling, Analysis and Control of Nonlinear Switching Systems“. Diss., Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/6976.
Der volle Inhalt der QuelleMoret, Eric N. „Dynamic Modeling and Control of a Car-Like Robot“. Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/31535.
Der volle Inhalt der QuelleThe Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at the Virginia Tech Transportation Institute (VTTI) is one of many facilities dedicated to the field of Intelligent Transportation Systems (ITS). The goal of the FLASH lab is to provide small-scale development and implementation of autonomous control strategies for today's vehicles.
The current controller used on the scale vehicles is based solely on the kinematics of the system. This body of work was aimed to develop a dynamic control law to enhance the performance of the existing kinematic controller. This control system is intended to automatically maintain the vehicle's alignment on the road as well as keep the speed of the vehicle constant. Implementation of such systems could conceivably reduce driver fatigue by removing nearly all the burden of the driving process from the driver while on the highway.
System dynamics of car-like robots with nonholonomic constraints were employed in this research to create a controller for an autonomous path following vehicle. The application of working kinematic and dynamic models describing car-like robotic systems allowed the development of a nonlinear controller.
Simulations of the vehicle and controller were done using MATLAB. Comparisons of the kinematic controller and the dynamic controller presented here were also done. In order to make the simulations model the actual system more closely, measures were taken to approximate actual sensor readings.
Master of Science
Karakas, Deniz. „Nonlinear Modeling And Flight Control System Design Of An Unmanned Aerial Vehicle“. Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/3/12608926/index.pdf.
Der volle Inhalt der Quelle/Simulink®
environment is developed by taking into consideration all the possible major system components such as actuators, gravity, engine, atmosphere, wind-turbulence models, as well as the aerodynamics components in the 6 DOF equations of motion. Trim and linearization of the developed nonlinear model are accomplished and various related analyses are carried out. The model is validated by comparing with a similar UAV data in terms of open loop dynamic stability characteristics. Using two main approaches
namely, classical and optimal, linear controllers are designed. For the classical approach, Simulink Response Optimization (SRO) tool of MATLAB®
/Simulink®
is utilized, whereas for the optimal controller approach, linear quadratic (LQ) controller design method is implemented, again by the help of the tools put forth by MATLAB®
. The controllers are designed for control of roll, heading, coordinated turn, flight path, pitch, altitude, and airspeed, i.e., for the achievement of all low-level control functions. These linear controllers are integrated into the nonlinear model, by carrying out gain scheduling with respect to airspeed and altitude, controller input linearization regarding the perturbed states and control inputs, and anti integral wind-up scheme regarding the possible wind-up of the integrators in the controller structures. The responses of the nonlinear model controlled with the two controllers are compared based on the military flight control requirements. The advantages and disadvantages of these two frequently used controllers in industry are investigated and discussed. These results are to be evaluated by the designers themselves based on the design criteria of a project that is worked on.
Layshot, Nicholas Joseph. „MODELING OF A GYRO-STABILIZED HELICOPTER CAMERA SYSTEM USING NEURAL NETWORKS“. DigitalCommons@CalPoly, 2010. https://digitalcommons.calpoly.edu/theses/421.
Der volle Inhalt der QuelleNoxon, Nikola John Linn. „A MODEL PREDICTIVE CONTROL APPROACH TO ROLL STABILITY OF A SCALED CRASH AVOIDANCE VEHICLE“. DigitalCommons@CalPoly, 2012. https://digitalcommons.calpoly.edu/theses/783.
Der volle Inhalt der QuelleFarid, Farshad. „On-line modeling and inverse optimal control of a class of unknown nonlinear systems using dynamic neural networks /“. Available to subscribers only, 2006. http://proquest.umi.com/pqdweb?did=1240704141&sid=4&Fmt=2&clientId=1509&RQT=309&VName=PQD.
Der volle Inhalt der QuelleBoberg, Frida. „Simulation of dynamic and static behavior of an electrically powered lift gate“. Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11627.
Der volle Inhalt der QuelleContinental Automotive Systems is a German company that develops control systems for different applications in cars. A control system for electrically powered lift gates that are opened or closed on the driver’s command is one of the products developed. The drive system itself is composed of a spindle that is driven by a DC-motor over a gear and a spring. When developing the control system it is convenient to use a simulation model instead of having to implement it on the system every time. The simulation analytically describes how the system is behaving.
In this thesis a simulation model of a drive system and a lift gate is developed and evaluated. The model parameters are estimated using System Identification Toolbox in Matlab.
Continental Automotive Systems är ett tyskt företag som utvecklar styrsystem för olika tillämpningar i bilar. Bland annat utvecklas ett styrsystem till eldrivna bakluckor som öppnas och stängs av föraren per knapptryck. Själva drivanordningen består av en skruv som drivs av en likströmsmotor över en utväxling och en fjäder. Då man vill utveckla styrsystemet utan att behöva implementera det på systemet varje gång är en simuleringsmodell av drivanordningen och luckan ett bra hjälpmedel. Denna simuleringsmodell kan då analytiskt beräkna hur systemet uppför sig.
I detta examensarbete har en simuleringsmodell av en drivanordning med tillhörande lucka utvecklats och utvärderats. Modellparametrarna estimerades med hjälp av System Identification Toolbox i Matlab.
Singla, Puneet. „Multi-resolution methods for high fidelity modeling and control allocation in large-scale dynamical systems“. Texas A&M University, 2005. http://hdl.handle.net/1969.1/3785.
Der volle Inhalt der QuelleWiese, Johannes Jacobus. „System identification and model-based control of a filter cake drying process“. Thesis, Stellenbosch : University of Stellenbosch, 2011. http://hdl.handle.net/10019.1/6654.
Der volle Inhalt der QuelleENGLISH ABSTRACT: A mineral concentrate drying process consisting of a hot gas generator, a flash dryer and a feeding section is found to be the bottleneck in the platinum concentrate smelting process. This operation is used as a case study for system identification and model-based control of dryers. Based on the availability of a month's worth of dryer data obtained from a historian, a third party modelling and control software vendor is interested in the use of this data for data driven model construction and options for dryer control. The aimed contribution of this research is to use only data driven techniques and attempt an SID experiment and use of this model in a controller found in literature to be applicable to the dryer process. No first principle model was available for simulation or interpretation of results. Data were obtained for the operation from the plant historian, reduced, cleaned and investigated for deterministic information through surrogate data comparison – resulting in usable timeseries from the plant data. The best datasets were used for modelling of the flash dryer and hot gas generator operations individually, with the hot gas generator providing usable results. The dynamic, nonlinear autoregressive models with exogenous inputs were identified by means of a genetic programming with orthogonal least squares toolbox. The timeseries were reconstructed as a latent variable set, or “pseudo-embedding”, using the delay parameters as identified by average mutual information, autocorrelation and false nearest neighbours. The latent variable reconstruction resulted in a large solution space, which need to be investigated for an unknown model structure. Genetic Programming is capable of identifying unknown structures. Freerun prediction stability and sensitivity analysis were used to assess the identified best models for use in model based control. The best two models for the hot gas generator were used in a basic model predictive controller in an attempt to only track set point changes. One step ahead modelling of the flash dryer outlet air temperature was unsuccessful with the best model obtaining a validation R2 = 43%. The lack of process information contained in the available process variables are to blame for the poor model identification. One-step ahead prediction of the hot gas generator resulted in a top model with validation R2 = 77.1%. The best two hot gas generator models were implemented in a model predictive controller constructed in a real time plant data flow simulation. This controller's performance was measured against set point tracking ability. The MPC implementation was unsuccessful due to the poor freerun prediction ability of the models. The controller was found to be unable to optimise the control moves using the model. This is assigned to poor model freerun prediction ability in one of the models and a too complex freerun model structure required. It is expected that the number of degrees of freedom in the freerun model is too much for the optimiser to handle. A successful real time simulation architecture for the plant dataflow could however be constructed in the supplied software. It is recommended that further process measurements, specifically feed moisture content, feed temperature and air humidity, be included for the flash dryer; closed loop system identification be investigated for the hot gas generator; and a simpler model structure with smaller reconstructed latent variable regressor set be used for the model predictive controller.
AFRIKAANSE OPSOMMING: 'n Drogings proses vir mineraal konsentraat bestaan uit drie eenhede: 'n lug verwarmer-, 'n blitsdroeër- en konsentraat toevoer eenheid. Hierdie droeër is geïdentifiseer as die bottelnek in die platinum konsentraat smeltingsproses. Die droeër word gebruik as 'n gevallestudie vir sisteem identifikasie asook model-gebasseerder beheer van droeërs. 'n Maand se data verkry vanaf die proses databasis, het gelei tot 'n derde party industriële sagteware en beheerstelsel maatskappy se belangstelling in data gedrewe modelering en beheer opsies vir die drogings proses. Die doelwit van hierdie studie is om data gedrewe modeleringstegnieke te gebruik en die model in 'n droeër-literatuur relevante beheerder te gebruik. Geen eerste beginsel model is beskikbaar vir simulasie of interpretasie van resultate nie. Die verkrygde data is gereduseer, skoon gemaak en bestudeer om te identifiseer of die tydreeks deterministiese inligting bevat. Dit is gedoen deur die tydreeks met stochastiese surrogaat data te vergelyk. Die mees gepaste datastelle is gebruik vir modellering van die blitsdroeër en lugverwarmer afsonderlik. Die nie-liniêre, dinamiese nie-linieêre outeregressie modelle met eksogene insette was deur 'n genetiese programmering algoritme, met ortogonale minimum kwadrate, identifiseer. Die betrokke tydreeks is omskep in 'n hulp-veranderlike stel deur gebruik te maak van vertragings-parameters wat deur gemiddelde gemeenskaplike inligting, outokorrelasie en vals naaste buurman metodes verkry is. Die GP algoritme is daartoe in staat om the groot oplossings ruimte wat deur hierdie hulp-veranderlike rekonstruksie geskep word, te bestudeer vir 'n onbekende model struktuur. Die vrye vooruitskattings vermoë, asook die model sensitiwiteit is inag geneem tydens die analiese van die resultate. Die beste modelle se gepastheid tot model voorspellende beheer is gemeet deur die uitkomste van 'n sensitiwiteits analise, asook 'n vrylopende voorspelling, in oënskou te neem. Die een-stap vooruit voorspellende model van die droeër was onsusksesvol met die beste model wat slegs 'n validasie R2 = 43% kon behaal. Die gebrekkige meet instrumente in die droeër is te blameer vir die swak resultate. Die een-stap vooruit voorspellende model van die lug verwarmer wat die beste gevaar het, het 'n validasie R2 = 77.1% gehad. 'n Basiese model voorspellende beheerder is gebou deur die 2 beste modelle van slegs die lugverwarmer te gebruik in 'n intydse simulasie van die raffinadery data vloei struktuur. Hierdie beheerder se vermoë om toepaslike beheer uit te oefen, is gemeet deur die slegs die stelpunt te verander. Die beheerder was egter nie daartoe in staat om die insette te optimeer, en so die stelpunt te volg nie. Hierdie onvermoë is as gevolg van die kompleks vrylopende model struktuur wat oor die voorspellingsvenster optimeer moet word, asook die onstabiele vryvooruitspellings vermoë van die modelle. Die vermoede is dat die loslopende voorspelling te veel vryheids grade het om die insette maklik genoeg te optimeer. Die intydse simulasie van die raffinadery se datavloei struktuur was egter suksesvol. Beter meting van noodsaaklike veranderlikes vir die droër, o.a. voginhoud van die voer, voer temperatuur, asook lug humiditeit; geslotelus sisteem identifikasie vir die lugverwarmer; asook meer eenvoudige model struktuur vir gebruik in voorspellende beheer moontlik vermag deur 'n kleiner hulp veranderlike rekonstruksie te gebruik.
Castillo, Zamora José de Jesús. „Conception, Modélisation et Contrôle d'un Système Multi-Drones pour la Manipulation Aérienne“. Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG051.
Der volle Inhalt der QuelleA recent and exciting topic within the field of autonomous aerial vehicles is the interaction with the surrounding environment via in-flight manipulation, including retrieving, transport and deployment, which unveils an enormous potential vis-a-vis industrial and service applications. In this regard, the actual thesis focuses on the conception and energy-based dynamical study of a multi-link unmanned aerial system able to perform manipulation tasks. The study of the aforementioned robotic aerial system includes the control of the flying multi-link vehicle by the sliding mode control theory and the conception of Lyapunov-based controllers alongside the application of Kalman Filters for state and disturbances estimation. The last part of the thesis is devoted to the examination of time-delays effects on unmanned aerial systems. Detailed simulation results are provided to prove the effectiveness of the overall thesis proposal
Bichiou, Youssef. „Modeling Analysis and Control of Nonlinear Aeroelastic Systems“. Diss., Virginia Tech, 2015. http://hdl.handle.net/10919/71760.
Der volle Inhalt der QuellePh. D.
Itik, Mehmet. „Nonlinear dynamical systems with applications to cancer modelling and control“. Thesis, University of Sheffield, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.531236.
Der volle Inhalt der QuelleKoulouris, Alexandros. „Multiresolution learning in nonlinear dynamic process modeling and control“. Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/11376.
Der volle Inhalt der QuelleZhao, Xin. „Empirical dynamic modeling and nonlinear force control of friction stir welding“. Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.mst.edu/thesis/pdf/Zhao_09007dcc803fbd7f.pdf.
Der volle Inhalt der QuelleVita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed February 4, 2008) Includes bibliographical references.
Han, Myung-Chul. „Robust control design for uncertain nonlinear dynamic systems“. Diss., Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/16850.
Der volle Inhalt der QuelleBajracharya, Quree. „Dynamic Modeling, Monitoring and Control of Energy Storage System“. Thesis, Karlstads universitet, Fakulteten för teknik- och naturvetenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-26521.
Der volle Inhalt der QuelleMaleki, Ehsan A. „Dynamics and control of a small-scale mobile boom crane“. Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/37166.
Der volle Inhalt der QuelleSouza, Eric Conrado de. „Modelagem e controle de uma classe de sistemas multi-corpos móveis“. Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-04092008-163727/.
Der volle Inhalt der QuelleIn the following, a class of multi-body robotic systems is proposed in which its system component bodies are physically coupled by active rotating joints. The systems belonging to the proposed class have unrestricted mobility on the plane since thrusters are distributed along the system. System dynamical modeling is obtained through the analytic mechanical Hamiltonian and Lagrangian methods. The presentation of these methods, as well as the dynamical models obtained by them, is realized with an emphasis in the geometrical interpretation of the corresponding mathematics. A few different system phase space parameterizations approaches are discussed and modeling examples are presented under these parameterizations. Additionally, some nonlinear controllability analysis criteria are reviewed and applied to system dynamical models composed by the input structure mentioned above. A few stabilization case studies for the class of systems are also discussed and simulation results are presented. Totally controlled systems in the phase space can be linearized by feedback linearization techniques and stabilized through a state feedback. For partially controllable systems a modification of a stabilization method for under-actuated systems is proposed which renders feedback control via Lypunov stability theory. The class of systems discussed has great potential for space and underwater applications.
Qi, Chenkun. „Modeling of nonlinear distributed parameter system for industrial thermal processes /“. access full-text access abstract and table of contents, 2009. http://libweb.cityu.edu.hk/cgi-bin/ezdb/thesis.pl?phd-meem-b23750911f.pdf.
Der volle Inhalt der Quelle"Submitted to Department of Manufacturing Engineering and Engineering Management in partial fulfillment of the requirements for the degree of Doctor of Philosophy." Includes bibliographical references (leaves 167-187)
Haipeng, Xie. „Flexible dynamic modeling and control for the remote manipulator system“. Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp04/mq26007.pdf.
Der volle Inhalt der QuelleArcila, Ana María Molina. „High resolution Fabry-Pérot interferometer - dynamic system modeling and nanopositioning control system design“. Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-23122014-155735/.
Der volle Inhalt der QuelleEste trabalho apresenta o projeto de pesquisa para obtenção do título de Mestre em Engenharia Elétrica, área de concentração de engenharia de sistemas, da Escola Politécnica da Universidade de São Paulo. O objetivo principal deste projeto foi desenvolver um controlador de nanoposicionamento para o interferômetro de Fabry-Pérot que será instalado no instrumento BTFI (Brazilian Tunable Filter Imager), no telescópio SOAR (Southern Astrophysical Research Telescope), no Chile. O interferômetro de Fabry-Pérot é um sistema multivariável de três entradas e três saídas composto por três atuadores piezoelétricos de 370 m de deslocamento, e três sistemas capacitivos de medida de distância de 400 m de faixa de medição. A caracterização da instrumentação do sistema, que consiste em sensores capacitivos, conversores de capacitância para tensão, atuadores piezoelétricos, drivers de potência para os atuadores piezoelétricos e sistemas de aquisição de dados, fez parte do estudo e da identificação do sistema. Após a caracterização da instrumentação, foi desenvolvido um modelo físico de sexta ordem para o sistema completo, partindo do modelo de segunda ordem dos atuadores piezoelétricos. Este modelo é necessário para o projeto dos controladores. Subsequentemente, as especificações científicas foram traduzidas em um problema de controle e o projeto do controlador robusto foi feito seguindo a técnica LQG/LTR (Linear Quadratic Gaussian/Loop Transfer Recovery). Um controlador Proporcional-Integral (PI) também foi desenvolvido e sintonizado usando um algoritmo genético, para funcionar como ponto de comparação. Finalmente, os controladores desenvolvidos foram validados no sistema real. Com os resultados concluiu-se que ambos controladores atingiram as especificações de desempenho no que diz respeito a seguir sinais de referência com erro nulo no estado estacionário. Pôde-se concluir ainda que o controlador robusto mostrou-se mais adaptado ao instrumento Fabry- Pérot em termos de desempenho e estabilidade, pois, comparado ao PI, é um controlador com maior largura de banda e robustez aos erros de modelamento.
Petersson, Daniel. „A Nonlinear Optimization Approach to H2-Optimal Modeling and Control“. Doctoral thesis, Linköpings universitet, Reglerteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-93324.
Der volle Inhalt der QuelleSilva, Margarida M. „Nonlinear Modeling and Feedback Control of Drug Delivery in Anesthesia“. Doctoral thesis, Uppsala universitet, Avdelningen för systemteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-233290.
Der volle Inhalt der QuelleGustavsson, Andreas. „Dynamic modeling and Model Predictive Control of a vapor compression system“. Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-76352.
Der volle Inhalt der QuelleCho, Jeongho. „Multiple modeling and control of nonlinear systems with self-organizing maps“. [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0008180.
Der volle Inhalt der QuelleVillella, Matthew G. „Nonlinear Modeling and Control of Automobiles with Dynamic Wheel-Road Friction and Wheel Torque Inputs“. Thesis, Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5198.
Der volle Inhalt der QuelleSong, Xubin. „Design of Adaptive Vibration Control Systems with Applicaion to Magneto-Rheological Dampers“. Diss., Virginia Tech, 1999. http://hdl.handle.net/10919/29556.
Der volle Inhalt der QuellePh. D.
Rajapakse, Nuraj I. „Analytical modeling, analysis and robust control of uncertain nonlinear dynamical systems by using sliding mode control (SMC) and quantitative feedback theory (QFT)“. Ann Arbor, Mich. : ProQuest, 2006. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:3218185.
Der volle Inhalt der QuelleTitle from PDF title page (viewed July 13, 2007). Source: Dissertation Abstracts International, Volume: 67-05, Section: B, page: 2801. Adviser: Gemunu S. Happawana. Includes bibliographical references.
Narby, Erik. „Modeling and Estimation of Dynamic Tire Properties“. Thesis, Linköping University, Department of Electrical Engineering, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-6153.
Der volle Inhalt der QuelleInformation about dynamic tire properties has always been important for drivers of wheel driven vehicles. With the increasing amount of systems in modern vehicles designed to measure and control the behavior of the vehicle information regarding dynamic tire properties has grown even more important.
In this thesis a number of methods for modeling and estimating dynamic tire properties have been implemented and evaluated. The more general issue of estimating model parameters in linear and non-linear vehicle models is also addressed.
We conclude that the slope of the tire slip curve seems to dependent on the stiffness of the road surface and introduce the term combined stiffness. We also show that it is possible to estimate both longitudinal and lateral combined stiffness using only standard vehicle sensors.
Gil, Iván-Dario. „Modeling, Simulation, Dynamic Optimization and Control of a Semibatch Emulsion Polymerization Process“. Thesis, Université de Lorraine, 2014. http://www.theses.fr/2014LORR0036/document.
Der volle Inhalt der QuelleIn this work, modeling, simulation, dynamic optimization and nonlinear control of an industrial emulsion polymerization process to produce poly-vinyl acetate (PVAc) are proposed. The reaction is modeled as a two-phase system composed of an aqueous phase and a particle phase. A detailed model is used to calculate the weight average molecular weight, the number average molecular weight and the dispersity. The moments of the growing and dead chains are used to represent the state of the polymer and to calculate the molecular weight distribution (MWD). The case study corresponds to an industrial reactor operated at a chemical company in Bogotá. An industrial scale reactor (11 m3 of capacity) is simulated where a semi-batch emulsion polymerization reaction of vinyl acetate is performed. Dynamic optimization problem is solved directly using a Nonlinear Programming solver. Integration of differential equations is made using Runge-Kutta method. Three different optimization problems are solved from the more simplistic (only one control variable: reactor temperature) to the more complex (three control variables : reactor temperature, initiator flow rate and monomer flow rate) in order to minimize the reaction time. A reduction of 25% of the batch time is achieved with respect to the normal operating conditions applied at the company. The results show that is possible to minimize the reaction time while some polymer desired qualities (conversion, molecular weight and solids content) satisfy the defined constraints. A nonlinear geometric control technique by using input/output linearization is adapted to the reactor temperature control. An extended Kalman filter (EKF) is implemented to estimate unmeasured states and it is tested in different cases including a robustness study where model errors are introduced to verify its good performance. After verification of controller performance, some process changes were proposed in order to improve process productivity and polymer quality. Finally, the optimal temperature profile and optimal feed policies of the monomer and initiator, obtained in a dynamic optimization step, are used to provide the optimal set points for the nonlinear control. The results show that the nonlinear controller designed here is appropriate to follow the optimal temperature trajectories calculated previously
De, Queiroz Lima Roberta. „Modeling and simulation in nonlinear stochastic dynamic of coupled systems and impact“. Thesis, Paris Est, 2015. http://www.theses.fr/2015PEST1049/document.
Der volle Inhalt der QuelleIn this Thesis, the robust design with an uncertain model of a vibro-impact electromechanical system is done. The electromechanical system is composed of a cart, whose motion is excited by a DC motor (motor with continuous current), and an embarked hammer into this cart. The hammer is connected to the cart by a nonlinear spring component and by a linear damper, so that a relative motion exists between them. A linear flexible barrier, placed outside of the cart, constrains the hammer movements. Due to the relative movement between the hammer and the barrier, impacts can occur between these two elements. The developed model of the system takes into account the influence of the DC motor in the dynamic behavior of the system. Some system parameters are uncertain, such as the stiffness and the damping coefficients of the flexible barrier. The objective of the Thesis is to perform an optimization of this electromechanical system with respect to design parameters in order to maximize the impact power under the constraint that the electric power consumed by the DC motor is lower than a maximum value. To chose the design parameters in the optimization problem, an sensitivity analysis was performed in order to define the most sensitive system parameters. The optimization is formulated in the framework of robust design due to the presence of uncertainties in the model. The probability distributions of random variables are constructed using the Maximum Entropy Principle and statistics of the stochastic response of the system are computed using the Monte Carlo method. The set of nonlinear equations are presented, and an adapted time domain solver is developed. The stochastic nonlinear constrained design optimization problem is solved for different levels of uncertainties, and also for the deterministic case. The results are different and this show the importance of the stochastic modeling
Stockton, Nicklas O. „Hybrid Genetic Fuzzy Systems for Control of Dynamic Systems“. University of Cincinnati / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1523635312922039.
Der volle Inhalt der QuelleSchön, Thomas B. „Estimation of Nonlinear Dynamic Systems : Theory and Applications“. Doctoral thesis, Linköpings universitet, Reglerteknik, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-7124.
Der volle Inhalt der QuelleChan, Chung Ying Amy. „Dynamic modeling, control and simulation of a planar five-link bipedal walking system“. Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0020/MQ53135.pdf.
Der volle Inhalt der QuelleAjayi, Michael Oluwatosin. „Modelling and control of actuated lower limb exoskeletons : a mathematical application using central pattern generators and nonlinear feedback control techniques“. Thesis, Paris Est, 2016. http://www.theses.fr/2016PESC1021/document.
Der volle Inhalt der QuelleWearable robotic system has become a well sought after mechanism in the field of biomechatronics engineering due to the the various possibilities it possess. These possibilities encompass the assistive and rehabilitative protocols rendered to disabled and elderly people, in order to enable them regain control of their limbs and of course increase the abilities of able-bodied persons. It therefore clearly drives the motive of bringing back paraplegics back on their feet as well as executing difficult task beyond human ability.Achieving the intended function of wearable robots requires the model dynamics of the physical system in relation to the tasks required to be performed by subjects. This demands a proper control measure which takes into account the safety of the wearer. For this purpose, bio-inspired control techniques and bounded nonlinear feedback controllers are considered. The latter control design ensures that the stipulated power required is not exceeded as well as the saturation of the actuator, while the former motivates the design of controllers based on the concept of Central Pattern Generators (CPG). CPGs are characterised as biological neural networks which can be represented by a set of coupled nonlinear oscillator situated in the spinal cord of mammals, having the capability of generating coordinated multidimensional rhythmic signals for the purpose of locomotion, under the control of simple input signals. These rhythmic signals are termed to be periodic or quasi-periodic in nature, hence performing this task in robotics and animal motor control has been a perpetual research problem. The movement of the lower limb of humans thus present a platform to investigate and address this difficulty.In this thesis, the analysis, simulation, and control of joints which relate to the human lower limbs via CPGs and feedback control techniques are investigated with an aim of practically implementing the control strategies using a lower limb exoskeleton is presented. To accomplish this goal, it is expedient to have comprehensive knowledge of the anatomy, physiology and the normal gait biomechanics of the human lower limbs. Understanding the theories, principles and mathematical background of nonlinear oscillators are also required. Control strategies using the inverse and the forward dynamics approach based on different types of coupled nonlinear oscillators and nonlinear feedback control techniques were considered for single/multiple degrees of freedom (DoF). Simulations and results were presented to verify the controller-human system ability to constantly and dynamically track and readapt its control parameters to maintain its desired motion dynamics, with reduced control torque values.This work basically deals with two distinct method of control systems; one which integrates bio-inspired methods with classical and nonlinear control techniques to govern the exoskeletons' joints with a human in the loop, and another which utilises bounded nonlinear feedback control techniques for same purpose
McEwen, Matthew D. „Dynamic system identification and modeling of a rotary wing UAV for stability and control analysis“. Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1998. http://handle.dtic.mil/100.2/ADA349878.
Der volle Inhalt der QuelleLevashov, Michael Yurievich. „Modeling, system identication, and control for dynamic locomotion of the LittleDog robot on rough terrain“. Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/71273.
Der volle Inhalt der QuelleThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student submitted PDF version of thesis.
Includes bibliographical references (p. 76-80).
In this thesis, I present a framework for achieving a stable bounding gait on the LittleDog robot over rough terrain. The framework relies on an accurate planar model of the dynamics, which I assembled from a model of the motors, a rigid body model, and a novel physically-inspired ground interaction model, and then identied using a series of physical measurements and experiments. I then used the RG-RRT algorithm on the model to generate bounding trajectories of LittleDog over a number of sets of rough terrain in simulation. Despite signicant research in the field, there has been little success in combining motion planning and feedback control for a problem that is as kinematically and dynamically challenging as LittleDog. I have constructed a controller based on transverse linearization and used it to stabilize the planned LittleDog trajectories in simulation. The resulting controller reliably stabilized the planned bounding motions and was relatively robust to signicant amounts of time delays in estimation, process and estimation noise, as well as small model errors. In order to estimate the state of the system in real time, I modified the EKF algorithm to compensate for varying delays between the sensors. The EKF-based filter works reasonably well, but when combined with feedback control, simulated delays, and the model it produces unstable behavior, which I was not able to correct. However, the close loop simulation closely resembles the behavior of the control and estimation on the real robot, including the failure modes, which suggests that improving the feedback loop might result in bounding on the real LittleDog. The control framework and many of the methods developed in this thesis are applicable to other walking systems, particularly when operating in the underactuated regime.
by Michael Yurievich Levashov.
S.M.
Chau, Wan-hin Derek, und 鄒允軒. „Modeling and solving decentralized supply chain management problems using multi-agent system with dynamic-control agents“. Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2015. http://hdl.handle.net/10722/208622.
Der volle Inhalt der Quellepublished_or_final_version
Industrial and Manufacturing Systems Engineering
Doctoral
Doctor of Philosophy
Herrera, Cáceres Carlos Antonio. „Modeling and predictive control of a cash concentration and disbursements system“. Doctoral thesis, Universitat Autònoma de Barcelona, 2016. http://hdl.handle.net/10803/399516.
Der volle Inhalt der QuelleThis thesis addresses the study of cash management and short-term financial planning through the movement of money in bank accounts involved in the important financial decisions of a firm. The research is carried within the framework of models for corporate financial planning, whose development has mostly occurred in the last sixty years. Particularly, the work focuses on the Cash Concentration and Disbursements Systems (CCDS), which are used by firms for the purpose of improving the planning and control of current assets and cash management. The aim of a CCDS is to concentrate available cash in a main bank account in order to make best use of money in large amounts to support investment and financing operations. Consequently, the main motivation of the thesis is to achieve an accurate representation of a CCDS, allowing its numerical simulation, analysis and evaluation, as well as the subsequent possibility of exploring new researches and the development of algorithms for the financial decisions support, based on tools of control theory. In this regard, a simulation model of a CCDS seen as an inventory management system is presented, based on difference equations and systems engineering techniques including the existence of delays due to banking procedures. The model assumes the existence of a centrally operated main account. This account receives money transfers from the revenue accounts of each agency. Also from the main account, money is transferred to the agencies' disbursements accounts in order to cover overdrafts. There exist an investment account into which any cash surpluses of the main account are deposited and a credit line in order to avoid the cash deficits. The operating rules for the CCDS are defined, and income and financial costs involved are considered. The model represents the flow of money between the identified elements of the system and the flow of money requirements or transfer orders. An equivalent model represented by algebraic equations through the Z-transform is derived, which allows using rigorous control techniques in the field of finance. Based on a decentralized approach on the model of the CCDS, a Model Predictive Control (MPC) for a revenue account is developed, which is applied to all agencies. Dynamic Programming (DP) is used for the prediction model by including a standard forecasting model for uncertainty. Simplifications of the MPC are included seeking alleviate some of the known problems when DP is applied under uncertainty. Moreover, a band for the uncertainty is established to narrow the input of the DP model, together with a stabilizing regulator in cascade fashion using a linear feedback gain (closed-loop). This combination allows determining a range for the system stability regardless of the size of the prediction horizon. The reference signal used is a sawtooth function, which conveniently adapts to the inventory policy applied. Theoretically, and through simulation, it is shown that the proposed controller meets the control objective. The MPC of the revenue account is adapted by adding delay time in order to be used for disbursement accounts. Accordingly, two proposals of a model predictive control are provided on the overdraft coverage problem. Finally, a case study is presented using hypothetical data in order to test the simulation model of the CCDS. Running the model allows performing a comprehensive analysis of results showing its potentialities and the versatility to suit different realistic scenarios. This research opens up a range of possibilities for further research in which techniques and theories of systems engineering and control are combined, applied to corporate financial field.
Skolthanarat, Siriya. „The Modeling and Control of a Wind Farm and Grid Interconnection in a multi-machine system“. Diss., Virginia Tech, 2009. http://hdl.handle.net/10919/28920.
Der volle Inhalt der QuellePh. D.
Bärlund, Alexander. „Nonlinear MPC for Motion Control and Thruster Allocation of Ships“. Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158493.
Der volle Inhalt der QuelleChen, Yutao. „Algorithms and Applications for Nonlinear Model Predictive Control with Long Prediction Horizon“. Doctoral thesis, Università degli studi di Padova, 2018. http://hdl.handle.net/11577/3421957.
Der volle Inhalt der QuelleImplementazioni rapide di NMPC sono importanti quando si affronta il controllo in tempo reale di sistemi che presentano caratteristiche come dinamica veloce, ampie dimensioni e orizzonte di predizione lungo, poiché in tali situazioni il carico di calcolo dell'MNPC può limitare la larghezza di banda di controllo ottenibile. A tale scopo, questa tesi riguarda sia gli algoritmi che le applicazioni. In primo luogo, sono stati sviluppati algoritmi veloci NMPC per il controllo di sistemi dinamici a tempo continuo che utilizzano un orizzonte di previsione lungo. Un ponte tra MPC lineare e non lineare viene costruito utilizzando linearizzazioni parziali o aggiornamento della sensibilità. Al fine di aggiornare la sensibilità solo quando necessario, è stata introdotta una misura simile alla curva di non linearità (CMoN) per i sistemi dinamici e applicata agli algoritmi NMPC esistenti. Basato su CMoN, sono state sviluppate logiche di aggiornamento intuitive e avanzate per diverse prestazioni numeriche e di controllo. Pertanto, il CMoN, insieme alla logica di aggiornamento, formula uno schema di aggiornamento della sensibilità parziale per NMPC veloce, denominato CMoN-RTI. Gli esempi di simulazione sono utilizzati per dimostrare l'efficacia e l'efficienza di CMoN-RTI. Inoltre, un'analisi rigorosa sull'ottimalità e sulla convergenza locale di CMoN-RTI viene fornita ed illustrata utilizzando esempi numerici. Algoritmi di condensazione parziale sono stati sviluppati quando si utilizza lo schema di aggiornamento della sensibilità parziale proposto. La complessità computazionale è stata ridotta poiché parte delle informazioni di condensazione sono sfruttate da precedenti istanti di campionamento. Una logica di aggiornamento della sensibilità insieme alla condensazione parziale viene proposta con una complessità lineare nella lunghezza della previsione, che porta a una velocità di un fattore dieci. Sono anche proposti algoritmi di fattorizzazione parziale della matrice per sfruttare l'aggiornamento della sensibilità parziale. Applicando metodi di suddivisione a problemi a più stadi, è necessario aggiornare solo parte del sistema KKT risultante, che è computazionalmente dominante nell'ottimizzazione online. Un miglioramento significativo è stato dimostrato dando operazioni in virgola mobile (flop). In secondo luogo, sono state realizzate implementazioni efficienti di NMPC sviluppando un pacchetto basato su Matlab chiamato MATMPC. MATMPC ha due modalità operative: quella si basa completamente su Matlab e l'altra utilizza l'API del linguaggio MATLAB C. I vantaggi di MATMPC sono che gli algoritmi sono facili da sviluppare e eseguire il debug grazie a Matlab e le librerie e le toolbox di Matlab possono essere utilizzate direttamente. Quando si lavora nella seconda modalità, l'efficienza computazionale di MATMPC è paragonabile a quella del software che utilizza la generazione di codice ottimizzata. Le realizzazioni in tempo reale sono ottenute per un simulatore di guida dinamica di nove gradi di libertà e per il movimento multisensoriale con sedile attivo.
Arsava, Kemal Sarp. „Modeling, Control and Monitoring of Smart Structures under High Impact Loads“. Digital WPI, 2014. https://digitalcommons.wpi.edu/etd-dissertations/105.
Der volle Inhalt der QuelleAlmeida, Rynaldo Zanotele Hemerly de. „Modelagem dinâmica e controle de robô manipulador de arquitetura paralela assimétrica de três graus de liberdade“. Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/3/3151/tde-19092014-113652/.
Der volle Inhalt der QuelleThis work deals with the dynamic modeling and the design of control systems for an asymmetric parallel manipulator robot with three degrees of freedom, related to three translations of its end-effector in the tridimensional space, conceived for pick-andplace tasks. Among the theoretical developments, one of them was the extension of the proposed procedures, initially applied to this specific case, to the whole class of topologically asymmetric and parallel mechanisms. The Lagrange Method and the Principle of Virtual work were employed in order to build dynamic models based on rigid body assumption with either lumped or distributed mass simplification hypothesis. For the controllers design, computed torque and extended computed torque techniques were used. The formulations of such techniques were elaborated in order to allow the calculation of the control efforts to be executed equivalently both on the actuators coordinates and on the end-effector coordinates, in accordance with the dynamic response requirements defined for the robot. These requirements may be even anisotropic, what is considered to be more suitable for asymmetric parallel robots. Particularly about the analyzed robot, the effects of dynamic model simplification and controller discretization (including double sample rate discretization) on the position control errors were evaluated. It was realized that the high performance requirements for pick-and-place tasks push the controller design to the limit of validity of the rigid body assumption and of the control hardware processing capacity.
Tugsal, Umut. „FAULT DIAGNOSIS OF ELECTRONIC FUEL CONTROL (EFC) VALVES VIA DYNAMIC PERFORMANCE TEST METHOD“. ProQuest, 2009. http://hdl.handle.net/1805/2094.
Der volle Inhalt der QuelleElectronic Fuel Control (EFC) valve regulates fuel flow to the injector fuel supply line in the Cummins Pressure Time (PT) fuel system. The EFC system controls the fuel flow by means of a variable orifice that is electrically actuated. The supplier of the EFC valves inspects all parts before they are sent out. Their inspection test results provide a characteristic curve which shows the relationship between pressure and current provided to the EFC valve. This curve documents the steady state characteristics of the valve but does not adequately capture its dynamic response. A dynamic test procedure is developed in order to evaluate the performance of the EFC valves. The test itself helps to understand the effects that proposed design changes will have on the stability of the overall engine system. A by product of this test is the ability to evaluate returned EFC valves that have experienced stability issues. The test determines whether an EFC valve is faulted or not before it goes out to prime time use. The characteristics of a good valve and bad valve can be observed after the dynamic test. In this thesis, a mathematical model has been combined with experimental research to investigate and understand the behavior of the characteristics of different types of EFC valves. The model takes into account the dynamics of the electrical and mechanical portions of the EFC valves. System Identification has been addressed to determine the transfer functions of the different types of EFC valves that were experimented. Methods have been used both in frequency domain as well as time domain. Also, based on the characteristic patterns exhibited by the EFC valves, fuzzy logic has been implemented for the use of pattern classification.
Moberg, Stig. „On Modeling and Control of Flexible Manipulators“. Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10463.
Der volle Inhalt der QuelleIndustrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.
This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.
The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.
The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.
Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.
Dugan, Sean Patrick-Michael. „On the Design, Modeling, and Control of a Hybrid Pump System for Dynamic Pressurization of Explanted Mammalian Hearts“. NCSU, 2007. http://www.lib.ncsu.edu/theses/available/etd-10242007-103805/.
Der volle Inhalt der QuelleSun, Liang. „Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems“. BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/3532.
Der volle Inhalt der QuelleCunis, Torbjørn. „Modeling, analysis, and control for upset recovery : from system theory to unmanned aircraft flight“. Thesis, Toulouse, ISAE, 2019. http://www.theses.fr/2019ESAE0027.
Der volle Inhalt der QuelleUpset flight dynamics are characterised by unstable, highly nonlinear behaviourof the aircraft aerodynamic system. As upsets often lead to in-flight loss-of-control (LOC-I) accidents,it still poses a severe threat to today’s commercial aviation. Contributing to almost everysecond fatality in civil aviation while representing merely 10% of the total accidents (both fataland nonfatal), the International Air Transport Association has classified LOC-I as the “highestrisk to aviation safety”. Considerable effort has been undertaken in response by academics,manufacturers, commercial airlines, and authorities to predict and prevent LOC-I events as wellas recover from upset conditions into the nominal flight envelope. As result, researchers fromboth aeronautical engineering and system theory have made significant contributions towardsaviation safety; however, approaches from engineering and theory are rather disparate. This thesistherefore focuses on the application and transfer of system theoretical results to engineeringapplications.In particular, we have found simple polynomial models for aircraft dynamics, despite commonin the system theoretical literature, failing to represent full-envelope aerodynamics accurately.Advanced fitting methods such as multi-variate splines, on the other hand, are unsuitable forsome of the proposed functional analysis methods. Instead, a simple piecewise defined polynomialmodel proves to be accurate in fitting the aerodynamic coefficients for low and high angles ofattack. State-of-the-art bifurcation analysis and analysis based on sum-of-squares programmingtechniques are extended for this class of models and applied to a piecewise equations of motionof the Generic Transport Model (GTM). In the same spirit, we develop a model for a small,fixed-wing aircraft based on static continuous fluid dynamics (CFD) simulations. In the lackof dynamic coefficients from CFD, we identify a pitch-damping model comparing bifurcationanalysis and flight data that predicts well dynamics and stability of deep-stall flight.Previous developments in sum-of-squares programming have been promising for the certificationof nonlinear dynamics and flight control laws, yet their application in aeronauticalengineering halted. In combination with piecewise polynomial modeling, we are able to re-applythis technique for analysis in an accurate but computationally feasible manner to verify stablerecovery. Subsequently, we synthesise inherently stable linear and polynomial feedback laws fordeep-stall recovery. We further extend the estimation of regions of attraction for the piecewisepolynomial model towards an improved algorithm for local stability analysis of arbitrary switchingsystems, such as splines, thus making our work available for future analysis and certificationof highly accurate algebraic models.With highly nonlinear dynamics and critical state and input constraints challenging upsetrecovery, model-predictive control (MPC) with receding horizon is a powerful approach. MPCfurther provides a mature stability theory contributing towards the needs for flight control certification.Yet, for realistic control systems careful algebraic or semi-algebraic considerationsare necessary in order to rigorously prove closed-loop stability. Employing sum-of-squares programming,we provide a stability proof for a deep-stall recovery strategy minimising the loss ofaltitude during recovery. We further demonstrate MPC schemes for recovery from spiral andoscillatory spin upsets in an uncertain environment making use of the well-known and freelyavailable high-fidelity GTM desktop simulation.The results of this thesis are thus promising for future system theoretic approaches in modeling,analysis, and control of aircraft upset dynamics for the development and certification offlight control systems in order to prevent in-flight loss-of-control accidents
Jiang, Xiaomo. „Dynamic fuzzy wavelet neural network for system identification, damage detection and active control of highrise buildings“. Connect to this title online, 2005. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1110266591.
Der volle Inhalt der QuelleTitle from first page of PDF file. Document formatted into pages; contains xvii, 221 p.; also includes graphics (some col.). Includes bibliographical references (p. 210-221). Available online via OhioLINK's ETD Center