Дисертації з теми "Nonlinear robust optimization"
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Zhao, Yong. "Nonlinear compensation and heterogeneous data modeling for robust speech recognition." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/47566.
Повний текст джерелаAylward, Erin M. "Robust stability and contraction analysis of nonlinear systems via semidefinite optimization." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/37850.
Повний текст джерелаThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 107-110).
A wide variety of stability and performance problems for linear and certain classes of nonlinear dynamical systems can be formulated as convex optimization problems involving linear matrix inequalities (LMIs). These formulations can be solved numerically with computationally-effcient interior-point methods. Many of the first LMI-based stability formulations applied to linear systems and the class of nonlinear systems representable as an interconnection of a linear system with bounded uncertainty blocks. Recently, stability and performance analyses of more general nonlinear deterministic systems, namely those with polynomial or rational dynamics, have been converted into an LMI framework using sum of squares (SOS) programming. SOS programming combines elements of computational algebra and convex optimization to provide e±cient convex relaxations for various computationally-hard problems. In this thesis we extend the class of systems that can be analyzed with LMI-based methods.
(cont.) We show how to analyze the robust stability properties of uncertain non-linear systems with polynomial or rational dynamics, as well as a class of systems with external inputs, via contraction analysis and SOS programming. Specifically, we show how contraction analysis, a stability theory for nonlinear dynamical systems in which stability is designed incrementally between two arbitrary trajectories via a contraction metric, provides a useful framework for analyzing the stability of uncertain systems. Then, using SOS programming we develop an algorithmic method to search for contraction metrics for these systems. The search process is made computationally tractable by relaxing matrix deniteness constraints, the feasibility of which indicates the existence of a contraction metric, to SOS constraints on polynomial matrices. We illustrate our results through examples from the literature and show how our contraction-based approach offers advantages when compared with traditional Lyapunov analysis.
by Erin M. Aylward.
S.M.
Zhao, Yiming. "Efficient and robust aircraft landing trajectory optimization." Diss., Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43586.
Повний текст джерелаTandon, Bhawna [Verfasser]. "How Can Robust Control of Nonlinear Systems be Achieved? Examining Optimization Techniques / Bhawna Tandon." München : GRIN Verlag, 2019. http://d-nb.info/1197385347/34.
Повний текст джерелаSünderhauf, Niko. "Robust optimization for simultaneous localization and mapping." Thesis, Technischen Universitat Chemnitz, 2012. https://eprints.qut.edu.au/109667/1/109667.pdf.
Повний текст джерелаSünderhauf, Niko. "Robust Optimization for Simultaneous Localization and Mapping." Doctoral thesis, Universitätsbibliothek Chemnitz, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-86443.
Повний текст джерелаAndreas, April Kramer. "Mathematical Programming Algorithms for Reliable Routing and Robust Evacuation Problems." Diss., The University of Arizona, 2006. http://hdl.handle.net/10150/195737.
Повний текст джерелаPenet, Maxime. "Robust Nonlinear Model Predictive Control based on Constrained Saddle Point Optimization : Stability Analysis and Application to Type 1 Diabetes." Phd thesis, Supélec, 2013. http://tel.archives-ouvertes.fr/tel-00968899.
Повний текст джерелаNielsen, Jerel Bendt. "Robust Visual-Inertial Navigation and Control of Fixed-Wing and Multirotor Aircraft." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/7584.
Повний текст джерелаKöbis, Elisabeth Anna Sophia [Verfasser], Christiane [Akademischer Betreuer] Tammer, and Akhtar [Akademischer Betreuer] Khan. "On robust optimization : a unified approach to robustness using a nonlinear scalarizing functional and relations to set optimization / Elisabeth Anna Sophia Köbis. Betreuer: Christiane Tammer ; Akhtar Khan." Halle, Saale : Universitäts- und Landesbibliothek Sachsen-Anhalt, 2014. http://d-nb.info/1053326432/34.
Повний текст джерелаYerlikaya, Fatma. "A New Contribution To Nonlinear Robust Regression And Classification With Mars And Its Applications To Data Mining For Quality Control In Manufacturing." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/3/12610037/index.pdf.
Повний текст джерелаBiTAK project on quality control. By these applications, MARS and our new method are compared.
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.
Повний текст джерелаIn 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
Sadat, Sayed Abdullah. "Optimal Bidding Strategy for a Strategic Power Producer Using Mixed Integer Programming." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6631.
Повний текст джерелаHuynh, Nguyen. "Digital control and monitoring methods for nonlinear processes." Link to electronic thesis, 2006. http://www.wpi.edu/Pubs/ETD/Available/etd-100906-083012/.
Повний текст джерелаKeywords: Parametric optimization; nonlinear dynamics; functional equations; chemical reaction system dynamics; time scale multiplicity; robust control; nonlinear observers; invariant manifold; process monitoring; Lyapunov stability. Includes bibliographical references (leaves 92-98).
Sklar, Alexander Gabriel. "Channel Modeling Applied to Robust Automatic Speech Recognition." Scholarly Repository, 2007. http://scholarlyrepository.miami.edu/oa_theses/87.
Повний текст джерелаHays, Joseph T. "Parametric Optimal Design Of Uncertain Dynamical Systems." Diss., Virginia Tech, 2011. http://hdl.handle.net/10919/28850.
Повний текст джерелаPh. D.
Tunuguntla, Sai S. "On Finding the Location of an Underwater Mobile Robot Using Optimization Techniques." Thesis, Virginia Tech, 1998. http://hdl.handle.net/10919/36822.
Повний текст джерелаMaster of Science
Snoun, Cherif. "Contrôle passif des vibrations des systèmes mécaniques à l’aide d’absorbeurs dynamiques non linéaires avec prise en compte des incertitudes." Thesis, Tours, 2020. http://www.theses.fr/2020TOUR4001.
Повний текст джерелаFaced with increasing economic and public health requirements, industrialists are faced with the need to design increasingly efficient mechanical systems that respect a certain level of acoustic comfort. In mechanics or acoustics, vibration control is a very active field of research. Three main types of technology are mainly used in industry: passive control by dissipation, passive control using tuned linear absorbers and active control, each of these techniques having its advantages and disadvantages. Over the past 15 years, the use of NES (Nonlinear Energy Sink) non-linear absorbers, typically a purely non-linear stiffness mass-spring-damper system, has proven its effectiveness as an alternative solution for passive vibration control by combining the advantages of existing technologies. However, the dynamic behaviour of the coupled system consisting of the NES and the primary system to be protected can be very sensitive to parameters that allow for high dispersion. In particular, when attenuating dynamic instability (as is the case in this thesis) a discontinuity in the vibration amplitude profile of the system can be observed, as the system suddenly switches from an attenuated regime (where the NES acts) to an unattenuated regime (where the NES does not act). Since an unattenuated regime is potentially dangerous, it is important to be able, taking into account the parameter uncertainties that the primary system may face, to design an NES that is robust, i.e. operating at maximum within the space of the uncertain parameters corresponding to unattenuated regimes of the primary system.In the first part, methods based on the formalism of polynomial chaos are proposed for locating, in the space of the uncertain parameters of the primary system, the boundary between the region corresponding to attenuated regimes and that corresponding to non-attenuated regimes, thus allowing the calculation of the propensity of the coupled system to be in an attenuated regime. These methods are then applied to the cases of a two-degree-of-freedom friction system (the so-called Hultèn model) coupled to two identical NES. The results show, on the one hand, that the methods based on polynomial chaos allow a significant reduction of the calculation cost compared to the reference method while maintaining a good accuracy and, on the other hand, that the method based on multi-element polynomial chaos (called ME-gPC method) is the most efficient.In the second part, a methodology for optimizing NES under uncertainty is developed. Two approaches are proposed, each based on maximizing, under uncertainties of the primary system parameters, the propensity of the coupled system to be in a mitigated regime. The first approach considers that the SNF parameters are deterministic and are therefore the design variables to be optimized. The second approach considers that the SEL parameters are also uncertain but with a known probability distribution. Thus, the design variables to be optimized are no longer directly the parameters of the NES but one of their statistics (the mean or the standard deviation for example) called hyper-parameters. The results obtained are compared with a reference deterministic optimization. The effectiveness of the proposed methods, based on polynomial chaos, to significantly reduce the cost of calculation while maintaining good precision is highlighted
Bel, Haj Frej Ghazi. "Estimation et commande décentralisée pour les systèmes de grandes dimensions : application aux réseaux électriques." Thesis, Université de Lorraine, 2017. http://www.theses.fr/2017LORR0139/document.
Повний текст джерелаThis thesis focuses on the decentralized estimation and control for large scale systems. The objective is to develop software sensors that can produce a reliable estimate of the variables necessary for the interconnected nonlinear systems stability analysis. A decomposition of a such large system into a set of n interconnected subsystems is paramount for model simplification. Then, taking into account the nature of the subsystem as well as the interconnected functions, observer-based decentralized control laws have been synthesized. Each control law is associated with a subsystem which allows it to be locally stable, thus the stability of the overall system is ensured. The existence of an observer and a controller gain matrix stabilizing the system depends on the feasibility of an LMI optimization problem. The LMI formulation, based on Lyapunov approach, is elaborated by applying the DMVT technique on the nonlinear interconnection function, assumed to be bounded and uncertain. Thus, non-restrictive synthesis conditions are obtained. Observer-based decentralized control schemes have been proposed for nonlinear interconnected systems in the continuous and discrete time. Robust Hinfini decentralized controllers are provided for interconnected nonlinear systems in the presence of perturbations and parametric uncertainties. Effectiveness of the proposed schemes are verified through simulation results on a power systems with interconnected machines
Chen, Zhongkai. "Optimized Walking of an 8-link 3D Bipedal Robot." Thesis, Paris, ENSAM, 2015. http://www.theses.fr/2015ENAM0027/document.
Повний текст джерелаFrom an energy standpoint, walking robots are less efficient than humans. In facing this challenge, this study aims to provide an approach for controlling and optimizing the gaits of both 2D and 3D bipedal robots with consideration for exploiting natural dynamics and elastic couplings. A 5-link 2D biped with point feet and an 8-link 3D biped with massless line feet are studied. The control method is based on virtual constraints and feedback linearization. Following previous studies, the stability of the 2D biped is verified by computing scalar Poincaré map in closed form, and now this method also applies to the 3D biped because of its line-foot configuration. The optimization is performed using sequential quadratic programming. The optimization parameters include postural parameters and Bézier coefficients, and the optimization constraints are used to ensure gait validity. For the 2D biped, two different configurations of hip joint springs are investigated and both configurations successfully reduce the energy cost. For the 3D biped, the optimization parameters are further divided into sagittal parameters and coronal parameters, and the optimization results indicate that both these parameters should be optimized. After that, hip joint springs are added respectively to the sagittal plane, the coronal plane and both these planes. The results demonstrate that the elastic couplings in the sagittal plane should be considered first and that the additional couplings in the coronal plane reduce the energy cost even further
Karasalo, Maja. "Data Filtering and Control Design for Mobile Robots." Doctoral thesis, KTH, Optimeringslära och systemteori, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-11011.
Повний текст джерелаQC 20100722
Rehbinder, Henrik. "State Estimation and Limited Communication Control for Nonlinear Robotic Systems." Doctoral thesis, KTH, Mathematics, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3250.
Повний текст джерелаDe, Hillerin Safta. "Commande robuste de systèmes non linéaires incertains." Thesis, Supélec, 2011. http://www.theses.fr/2011SUPL0015/document.
Повний текст джерелаThis thesis studies the LPV approach for the robust control of nonlinear systems. Its originality is to propose for the first time a rigorous framework allowing to solve efficiently nonlinear synthesis problems.The LPV approach was proposed as an extension of the H-infinity approach in the context of LPV (Linear Parameter-Varying) systems and nonlinear systems. Although this approach seemed promising, it was not much used in practise. Indeed, beyond certain theoretical limitations, the nature itself of the obtained solutions did not seem adequate. This open question constitutes the starting point of our work.We first prove that the observed weak variation of the controllers is in fact mostly due to the information structure traditionally used for LPV synthesis, and that under reasonable assumptions, the LPV framework can overlap feedback linearization strategies. This point having been resolved, a second difficulty lies in the actual achievement of nonlinear controllers yielding performance guarantees. We propose a rigorous framework allowing to solve efficiently an incremental synthesis problem, through the resolution of an LPV problem associated to a specific information structure compatible with the one identified in the first part.This study and its corollary description of a formal framework and of a complete controller synthesis procedure, including complexity reduction methods, provide powerful arguments in favor of the LPV approach for the robust control of nonlinear systems
Chrétien, Benjamin. "Optimisation semi-infinie sur GPU pour le contrôle corps-complet de robots." Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT315/document.
Повний текст джерелаA humanoid robot is a complex system with numerous degrees of freedom, whose behavior is subject to the nonlinear equations of motion. As a result, planning its motion is a difficult task from a computational perspective.In this thesis, we aim at developing a method that can leverage the computing power of GPUs in the context of optimization-based whole-body motion planning. We first exhibit the properties of the optimization problem, and show that several avenues can be exploited in the context of parallel computing. Then, we present our approach of the dynamics computation, suitable for highly-parallel processing architectures. Next, we propose a many-core GPU implementation of the motion planning problem. Our approach computes the constraints and their gradients in parallel, and feeds the result to a nonlinear optimization solver running on the CPU. Because each constraint and its gradient can be evaluated independently for each time interval, we end up with a highly parallelizable problem that can take advantage of GPUs. We also propose a new parametrization of contact forces adapted to our optimization problem. Finally, we investigate the extension of our work to model predictive control
Brossette, Stanislas. "Génération de Posture Multi-Contact Viable pour Robot Humanoïde par Optimisation non-linéaire sur Variétés." Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT295/document.
Повний текст джерелаHumanoid robots are complex poly-articulated structures whose kinematics and dynamics are governed by nonlinear equations. Finding viable postures to realize set-point task objectives under a set of constraints (intrinsic and extrinsic limitations) is a key issue in the planning of robot motion and an important feature of any robotics framework. It is handled by the so called posture generator (PG) that consists in formalizing the viable posture as the solution to a nonlinear optimization problem. We present several extensions to the state-of-the-art by exploring new formulations and resolution methods for the posture generation problems. We reformulate the notion of contact constraints by adding variables to enrich our optimization problem and allow the solver to decide on the shape of the intersection of contact polygons or of the location of a contact point on a non-flat surface. We present a reformulation of the PG problem that encompasses non-Euclidean manifolds natively for a more elegant and efficient mathematical formulation of the problems. To solve such problems, we decided to implement a new SQP solver that is most suited to non-Euclidean manifolds structural objects. By doing so, we have a better mastering in the way to tune and specialize our solver for robotics problems
Jennings, Alan Lance. "Autonomous Motion Learning for Near Optimal Control." University of Dayton / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1344016631.
Повний текст джерелаDas, Indraneel. "Nonlinear multicriteria optimization and robust optimality." Thesis, 1997. http://hdl.handle.net/1911/19147.
Повний текст джерелаMohammadalipour, Tofighi Elham. "Robust nonlinear model predictive control of wind turbines using uncertain wind predictions." Thesis, 2019. http://hdl.handle.net/1959.13/1406261.
Повний текст джерелаEfficient wind turbine control can enhance the performance of the wind turbine operation by increasing the energy yield and reducing the mechanical loads on the turbine components and subsequently reducing maintenance costs. This thesis contributes to this stream of research by investigating the performance of a nonlinear model predictive controller in reducing long-term stress and fatigue on the tower structure of wind turbines. The proposed NMPC incorporates preview wind information (obtained by a LIDAR; LIght Detection and Ranging) in the control problem formulation. The control and state constraints are included in the formulation of the controller yielding smooth handling of loads especially in non-normal operating conditions (e.g., extreme gusts). Furthermore, a specialized cost function that incorporates the classic wind turbine control objectives is implemented. Finally, the continuous-time infinite optimization problem is piece-wise discretized based on the direct single shooting method. The resulting sampled-data finite optimization problem is solved using sequential quadratic programming technique. Comprehensive simulations and analysis in this thesis demonstrate that the proposed NMPC is an effective controller in achieving wind turbine control goals. Furthermore, as the performance and efficiency of the MPC controller is strongly dependent on the accuracy of the prediction model and the quality of the measurements, a robust NMPC controller, based on the scenario-based multi-stage approach, is also proposed. Here, uncertainty in the LIDAR wind measurements is considered. Various simulations are performed and and it is demonstrated that the proposed robust NMPC is capable of handling the uncertainties caused by errors in measuring the wind propagation times.
(8063924), Austin L. Nash. "Hierarchical Combined Plant and Control Design for Thermal Management Systems." Thesis, 2019.
Знайти повний текст джерелаIn this thesis, I develop a new design approach for TMSs called hierarchical control co-design (HCCD). More specifically, I develop a HCCD algorithm aimed at optimizing high-fidelity design and control for a TMS across a system hierarchy. This is accomplished in part by integrating system level (SL) CCD with detailed component level (CL) design optimization. The lower-fidelity SL CCD algorithm incorporates feedback control into the design of a TMS to ensure controllability and robust transient response to exogenous disturbances, and the higher-fidelity CL design optimization algorithms provide a way of designing detailed components to achieve the desired performance needed at the SL. Key specifications are passed back and forth between levels of the hierarchy at each iteration to converge on an optimal design that is responsive to desired objectives at each level. The resulting HCCD algorithm permits the design and control of a TMS that is not only optimized for steady-state efficiency, but that can be designed for robustness to transient disturbances while achieving said disturbance rejection with minimal compromise to system efficiency. Several case studies are used to demonstrate the utility of the algorithm in designing systems with different objectives. Additionally, high-fidelity thermal modeling software is used to validate a solution to the proposed model-based design process.
(9976460), Xu Zhang. "Model-based co-design of sensing and control systems for turbo-charged, EGR-utilizing spark-ignited engines." Thesis, 2021.
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