Дисертації з теми "Recursive control"
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Barbosa, Filipe Marques. "Robust recursive path-following control for autonomous heavy-duty vehicles." Universidade de São Paulo, 2018. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14032019-082753/.
O seguimento de caminho e a estabilidade lateral são questões cruciais para veículos autônomos. Além disso, devido à baixa capacidade de manobra, tamanho e grande variação de massa, estes problemas se tornam mais complexos quando se trata de veículos pesados. Adicionalmente, as incertezas na massa têm o potencial de diminuir significativamente o desempenho do sistema, chegando ao ponto de desestabilizá-lo, assim, essas variações paramétricas devem ser consideradas durante o projeto do controlador. No entanto, as técnicas de controle robusto geralmente exigem o ajuste off-line de parâmetros auxiliares do controlador, o que não é prático e lava a uma operação sub-ótima. Assim, este trabalho apresenta uma abordagem de controle de seguimento de caminho e controle lateral para veículos pesados autônomos sujeitos a incertezas paramétricas usando um regulador robusto recursivo. A principal vantagem deste controlador é que ele não depende do ajuste off-line de parâmetros. Assumiu-se que as incertezas paramétricas estavam na carga do veículo, e um controlador H∞ foi usado para comparar o desempenho em simulação. O desempenho de ambos os controladores é avaliado em uma manobra de mudança de faixa. Os resultados de simulação mostraram que o método proposto apresentou melhor desempenho em termos de robustez, estabilidade lateral, suavidade na condução e segurança, o que o demonstra como uma técnica de controle bastante promissora para aplicações práticas. Por fim, testes experimentais em um caminhão rígido reforçam os resultados obtidos em simulação.
Oliveira, Tiago Miguel Brites. "Recursive neuro fuzzy techniques for online identification and control." Master's thesis, Faculdade de Ciências e Tecnologia, 2013. http://hdl.handle.net/10362/10552.
The main goal of this thesis will be focused on developing an adaptative closed loop control solution, using fuzzy methodologies. A positive theoretical and experimental contribution, regarding modelling and control of fuzzy and neuro fuzzy systems, is expected to be achieved. Proposed non-linear identification solution will use for modelling and control, a recurrent neuro fuzzy architecture. Regarding model solution, a state space approach will be considered during fuzzy consequent local models design. Developed controller will be based on model parameters, being expected not only a stable closed loop solution, but also a static error with convergence towards zero. Model and controller fuzzy subspaces, will be partitioned throughout process dynamical universe, allowing fuzzy local models and controllers commutation and aggregation. With the aim of capturing process under control dynamics using a real time approach, the use of recursive optimization techniques are to be adopted. Such methods will be applied during parameter and state estimation, using a dual decoupled Kalman filter extended with unscented transformation. Two distinct processes one single-input (SISO) other multi-input (MIMO), will be used during experimentation. It is expected from experiments, a practical validation of proposed solution capabilities for control and identification. Presented work will not be completed, without first presenting a global analysis of adopted concepts and methods, describing new perspectives for future investigations.
Brus, Linda. "Recursive black-box identification of nonlinear state-space ODE models." Licentiate thesis, Uppsala : Department of Information Technology, Uppsala University, 2006. http://www.it.uu.se/research/publications/lic/2006-001/.
Sarkar, Subhasis. "Recursive formulations of multibody systems in open loop configuration." Diss., Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/12414.
ABDALLA, TALAL ALMUTAZ ALMANSI. "Recursive Algorithms for Set-Membership Estimation." Doctoral thesis, Politecnico di Torino, 2022. https://hdl.handle.net/11583/2972788.
Baker, Rob. "Some possibilities for the use of a recursive predictor in self-tuning algorithms." Thesis, University of Newcastle Upon Tyne, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316054.
Natarajan, Bharath. "Area Access Control Systems: Zone Management And Personnel Tracking." [Tampa, Fla.] : University of South Florida, 2005. http://purl.fcla.edu/fcla/etd/SFE0001247.
Boonnithivorakul, Nattapong. "Recursive on-line strategy for optimal control of a class of nonlinear systems /." Available to subscribers only, 2006. http://proquest.umi.com/pqdweb?did=1136091921&sid=7&Fmt=2&clientId=1509&RQT=309&VName=PQD.
Burridge, Michael J. "Nonlinear robust control of a series dc motor utilizing the recursive design approach." Master's thesis, University of Central Florida, 1995. http://digital.library.ucf.edu/cdm/ref/collection/RTD/id/24126.
In this thesis, the investigation of asymptotic stavility of the series DC motor with unknown load-torque and unknown armature inductance is considered. The control technique of recursive, or backstepping, design is employed. Three cases are considered. In the first case, the system is assumed to be perfectly known. In the second case, the load torque is assumed to be unknown and a proportional-integral controller is developed to compensate for this unknown quantity. In the final case, it is assumed that two system parameters, load torque and armature inductance, are not known exactly, but vary from expected nominal values within a specified range. A robust control is designed to handle this case. The Lyapunov stavility criterion is applied ina ll three cases to prove the stability of the system under the developed control. The results are then verified through the use of computer simulation.
M.S.;
Electrical and Computer Engineering;
Engineering;
Electrical Engineering;
103 p.
vii, 103 leaves, bound : ill. ; 28 cm.
Pil, Anton Cyriel. "A rapid recursive experimental approach to integrated structure/control redesign of electromechanical systems." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/39758.
Sanner, Robert M. (Robert Michael). "Stable adaptive control and recursive identification of nonlinear systems using radial Gaussian networks." Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/12711.
Huo, Xin. "Supporting Applications Involving Irregular Accesses and Recursive Control Flow on Emerging Parallel Environments." The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1400668968.
Wood, John D. "MIMO recursive least squares control algorithm for the AN/FPN-44A Loran-C transmitter." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA274820.
Samaan, Malak Anees. "Toward faster and more accurate star sensors using recursive centroiding and star identification." Texas A&M University, 2003. http://hdl.handle.net/1969/433.
Zhang, Qi. "Magnetic Rendering: Magnetic Field Control for Haptic Interaction." Thesis, Université d'Ottawa / University of Ottawa, 2015. http://hdl.handle.net/10393/32613.
Kemp, Russell Stephen. "Pseudo-linear indentification and its application to adaptive control." Thesis, Virginia Tech, 1987. http://hdl.handle.net/10919/45810.
The method of Pseudo-Linear Identification (PLID) is presented as an explicitly linear approach to the joint state and parameter estimation problem. The convergence properties of the algorithm in the stochastic case are investigated through simulation and comparisons with popular methods are made. The method is then extended to allow the tracking of time-varying system parameters.
An adaptive control structure based upon this Trackingâ PLID algorithm is proposed which utilizes poleâ placement state variable feedback via Ackermann's formula. The capabilities of this adaptive control scheme are demonstrated by application to a full-order nonlinear aircraft simulation model where significant improvement is shown over fixed-gain controllers in the face of rapid plant changes.
Master of Science
Hamaguchi, Yushi. "Extended backward stochastic Volterra integral equations and their applications to time-inconsistent stochastic recursive control problems." Doctoral thesis, Kyoto University, 2021. http://hdl.handle.net/2433/263434.
Cheng, Qifeng. "Robust & stochastic model predictive control." Thesis, University of Oxford, 2012. http://ora.ox.ac.uk/objects/uuid:89da4934-9de7-4142-958e-513065189518.
Hefny, Ahmed. "Efficient Methods for Prediction and Control in Partially Observable Environments." Research Showcase @ CMU, 2018. http://repository.cmu.edu/dissertations/1210.
Wiklander, Jonas. "Performance comparison of the Extended Kalman Filter and the Recursive Prediction Error Method." Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1832.
In several projects within ABB there is a need of state and parameter estimation for nonlinear dynamic systems. One example is a project investigating optimisation of gas turbine operation. In a gas turbine there are several parameters and states which are not measured, but are crucial for the performance. Such parameters are polytropic efficiencies in compressor and turbine stages, cooling mass flows, friction coefficients and temperatures. Different methods are being tested to solve this problem of system identification or parameter estimation. This thesis describes the implementation of such a method and compares it with previously implemented identification methods. The comparison is carried out in the context of parameter estimation in gas turbine models, a dynamic load model used in power systems as well as models of other dynamic systems. Both simulated and real plant measurements are used in the study.
Hong, Feng. "Multivariable predictive control development and application in food extrusion processes /." free to MU campus, to others for purchase, 1999. http://wwwlib.umi.com/cr/mo/fullcit?p9946262.
Gumpert, Ben Allen. "A recursive Gauss-Newton method for model independent eye-in-hand visual servoing / by Ben Allen Gumpert." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17260.
Palle, Sreeshailam. "Voltage Harmonic Control of Weak Utility Grid Through Distributed Energy Systems." University of Akron / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=akron1344998933.
Brus, Linda. "Nonlinear Identification and Control with Solar Energy Applications." Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-8594.
Bueno, José Nuno Almeida Dias. "Controle robusto para robô manipulador espacial planar de base livre flutuante com dois braços." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-31082017-093441/.
Robotic manipulators gained greater importance in space operations by being able to replace humans in dangerous or very long and repetitive tasks. Free-floating manipulators are highlighted, because they can be coupled to satellites or space stations and represent a great challenge to control engineers. These robots have two operation modes: controlled base and free-floating base. In the first mode, the base has its attitude and translation controlled by propulsion jets or reaction wheels, so that the robot behavior is similar to a fixed-base manipulator. However, there is considerable fuel and electrical energy consumption, besides additional disturbances inserted in the system. In the second mode, which is considered in this work, the base is not controlled during operation and is able to move freely in response to movements of the arm. Even though there is a remarkable fuel and electrical energy saving, the dynamic coupling between base and arm must be taken into account during modelling and controller design. To model the space manipulator considered in this work the Dynamically Equivalent Manipulator method was used, which maps a free-floating manipulator into a underactuated fixed-base manipulator. Thus, it is possible to apply known control techniques for terrestrial manipulators on free-floating ones. This work discusses robust and adaptive controllers applied on a planar dual-arm free-floating space manipulator in order to track trajectories defined in the workspace. The considered control systems are: Robust Recursive Linear Quadratic Regulator, Robust H-infinity and Adaptive Sliding Modes. Results showed that the controllers had distinct performances but were still able to perform trajectory tracking in workspace with very small tracking errors. A quantitative comparison was also elaborated with performance indexes considering integral of torques and L2 norm of tracking errors.
Tayamon, Soma. "Nonlinear System Identification and Control Applied to Selective Catalytic Reduction Systems." Doctoral thesis, Uppsala universitet, Avdelningen för systemteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-229148.
Halldin, Axel. "Control of a Multivariable Lighting System." Thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-134913.
Doubleday, Kevin. "Generation of Individualized Treatment Decision Tree Algorithm with Application to Randomized Control Trials and Electronic Medical Record Data." Thesis, The University of Arizona, 2016. http://hdl.handle.net/10150/613559.
Maciel, Allan James Ferreira. "CONVERGÊNCIA DO ESTIMADOR RLS PARA ALGORITMOS DE PROGRAMAÇÃO DINÂMICA HEURÍSTICA." Universidade Federal do Maranhão, 2012. http://tedebc.ufma.br:8080/jspui/handle/tede/494.
Coordenação de Aperfeiçoamento de Pessoal de Nível Superior
The union of methodologies for optimal control and dynamics programming has stimulated the development of algorithms for realization of discrete control systems of the type linear quadratic regulator (DLQR). The methodology is based on reinforcement learning methods based on temporal differences and approximate dynamic programming. The proposed method combines the approach of the value function by method RLS (recursive least squares) and approximate policy iteration schemes heuristic dynamic programming (HDP). The approach is directed to the assessment of convergence of the solution DLQR and the heuristic weighting matrices and of the utility function associated with DLQR. The investigation of convergence properties related to consistency, persistent excitation and polarization of the RLS estimator is performed. The methodology involved in a project achievements online DLQR controllers and is evaluated in a fourth order multivariable dynamic system.
A união das metodologias de controle ótimo e de programação dinâmica tem impulsionado o desenvolvimento de algoritmos para realizações de sistemas de controle discreto do tipo regulador linear quadrático (DLQR). A metodologia utilizada neste trabalho é fundamentada sobre métodos de aprendizagem por reforço baseados em diferenças temporais e programação dinâmica aproximada. O método proposto combina a aproximação da função valor através do método RLS (mínimos quadrados recursivos) e iteração de política aproximada em esquemas de programação dinâmica heurística (HDP). A abordagem é orientada para a avaliação da convergência da solução DLQR e para a sintonia heurística das matrizes de ponderação e da função de utilidade associada ao DLQR. É realizada a investigação das propriedades de convergência relacionadas à consistência, excitação persistente e polarização do estimador RLS. A metodologia contempla realizações de projetos de forma online de controladores DLQR e é avaliada em um sistema dinâmico multivariável de quarta ordem.
Lanhede, Daniel. "Non-parametric Statistical Process Control : Evaluation and Implementation of Methods for Statistical Process Control at GE Healthcare, Umeå." Thesis, Umeå universitet, Institutionen för matematik och matematisk statistik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-104512.
Statistisk processkontroll (SPC) är en samling verktyg för att upptäcka förändringar, i fördelningen, hos utfallen i en process. Det kan fungera som en värdefull resurs för att upprätthålla en hög kvalitet i en tillverkningsprocess. Denna rapport är baserad på arbetet med att utvärdera och implementera metoder för SPC i en monteringsprocess av kromatografiinstrument på GE Healthcare, Umeå. Åtta styrdiagram, tre för för fas I analys, och fem för fas II analys, studeras i denna rapport. Användbarheten hos styrdiagrammen bedöms efter hur enkla de är att tolka och förmågan att upptäcka fördelningsförändringar. Den senare utvärderas med simuleringar. Resultatet av projektet är införandet av RS/P-metod, utvecklad av Capizzi et al (2013), för analysen i fas I. Av de utvärderade metoderna, (och simuleringsscenarier), har RS/P-diagrammet den högsta övergripande sannolikheten, för att upptäcka en mängd olika fördelningsförändringar. Vidare är metodens grafiska diagram lätt att tolka, vilket underlättar analysen. För fas II analys, har två styrdiagram, ett baserat på Mann-Whitney's U teststatistika, som föreslagits av Chakraborti et al (2008), och ett på Mood's teststatistika för spridning, som föreslagits av Ghute et al (2014), implementerats. Styrkan i dessa styrdiagram ligger främst i dess enkla tolkning. För snabbare identifiering av processförändringar kan styrdiagrammet baserat på Cramer von Mises teststatistika, som föreslagits av Ross et al (2012), användas. Baserat på enskilda observationer, istället för stickprov, har styrdiagrammet en högre uppdateringsfrekvens. Detta leder dock till ett ökat antal falska larm och styrdiagrammet anses dessutom vara avsevärt mycket svårare att tolka för SPC-utövaren.
Tambara, Rodrigo Varella. "Um controlador adaptativo robusto aplicado a conversores estáticos conectados à rede elétrica através de filtro LCL." Universidade Federal de Santa Maria, 2014. http://repositorio.ufsm.br/handle/1/3686.
This Thesis deals with the development of a novel robust model reference adaptive controller (RMRAC), in discrete-time applied to grid-connected systems using LCL filter. This controller uses a modified robust parameters identifier based on a recursive least-squares algorithm. Two control structures are analyzed: state feedback approach and input-output approach. The robust stability analysis of the controller is presented including unmodeled dynamics. Thus, through these analyses, constraints design, in discrete-time, are obtained. For the validation of the proposed control algorithm, simulation and experimental results of a grid-connected power converter with LCL-filter, with current control, are presented.
Esta Tese de Doutorado apresenta o desenvolvimento de um novo controlador adaptativo por modelo de referência, totalmente desenvolvido em tempo discreto, aplicado a sistemas conectados à rede de energia elétrica empregando filtro LCL. Este controlador utiliza um identificador de parâmetros modificado robusto baseado no método dos mínimos quadrados recursivos. Em relação à estrutura do controlador, a abordagem por realimentação de estados e a abordagem entrada-saída são utilizadas. A análise de estabilidade robusta do controlador é apresentada incluindo dinâmicas não-modeladas. Por meio destas análises, restrições de projeto (em tempo discreto) são obtidas. Para a validação do algoritmo proposto, resultados de simulação e experimentais do sistema de controle de corrente em um conversor conectado à rede de energia elétrica com filtro LCL são apresentados.
Jägerback, Peter. "En indirekt metod för adaptiv reglering av en helikopter." Thesis, Linköping University, Linköping University, The Institute of Technology, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-17637.
When a helicopter is flying, the dynamics vary depending on, for example, speed and position. Hence, a time-invariant linear model cannot describe its properties under all flight conditions. It is therefore desirable to update the linear helicopter model continuously during the flight. In this thesis, two different recursive estimation methods are presented, LMS (Least Mean Square) and adaptation with a Kalman filter. The main purpose of the system estimation is to get a model which can be used for feedback control. In this report, the estimated model will be used to create a LQ controller with the task of keeping the output signal as close to the reference signal as possible.Simulations in this report show that adaptive feedback control can be used to control a helicopter's angular velocities and that the possibility to use an adaptive control algorithm in a real future helicopter is good.
Madkour, A. A. M., M. Alamgir Hossain, Keshav P. Dahal, and H. Yu. "Real-time system identification using intelligent algorithms." IEEE, 2004. http://hdl.handle.net/10454/2471.
Arslan, Huseyin Gokseli. "Adaptive cache aware multiprocessor scheduling framework." Thesis, Queensland University of Technology, 2011. https://eprints.qut.edu.au/47602/1/Huseyin_Arslan_Thesis.pdf.
Yu, Rui. "A REDUNDANT MONITORING SYSTEM FOR HUMAN WELDER OPERATION USING IMU AND VISION SENSORS." UKnowledge, 2018. https://uknowledge.uky.edu/ece_etds/128.
Silva, Paulo César da. "PI-MQR adaptativo aplicado a um motor de indução trifásico utilizando a plataforma DSPACE1103." Universidade do Estado de Santa Catarina, 2015. http://tede.udesc.br/handle/handle/1879.
Coordenação de Aperfeiçoamento de Pessoal de Nível Superior
The electrical parameters of three-phase induction motors vary according to their operating point, with the temperature and also with the natural machine degradation. Since the design regulators are typically performed based on linear and simplified equations of the machine, the parametric variation can cause unwanted responses, since the motor behavior is non-linear and time variant. Thus, it is proposed in this work carry the identification of the electrical parameters of the induction motor using the estimator called Least Squares Recursive (RLS). Thus, with the parametric data updated every sampling period can be recalculated in real time the gains of the regulators are designed for controlling the induction machine and make minor mismatches. The experimental results were obtained with the processing performed by dSPACE hardware (DS1103), which has an interface with Matlab/Simulink, facilitating the use by the user and reducing the time taken for testing bench. The results of numerical and practical simulations show a comparison between the mesh proposal, the parametric identification and update of the gains of the controllers (adaptive control) and the mesh with controllers with fixed gains.
Os parâmetros elétricos do motor de indução trifásico variam conforme o seu ponto de operação, com a temperatura e também com a degradação natural da máquina. Visto que o projeto de reguladores são tipicamente realizados com base em equações lineares e simplicadas da máquina, a variação paramétrica pode causar respostas indesejadas, pois o comportamento do motor é não-linear e variante no tempo. Desta forma propõe-se neste trabalho realizar a identificação dos parâmetros elétricos do motor de indução, utilizando o estimador denominado de Mínimos Quadrados Recursivos (MQR). Assim, com os dados paramétricos atualizados a cada período de amostragem, pode-se recalcular em tempo real, os ganhos dos reguladores que são projetados para o controle da máquina de indução e tornar os descasamentos menores. Os resultados experimentais foram obtidos com o processamento realizado pelo hardware dSPACE (DS1103), que possui uma interface com o Matlab/Simulink, facilitando a utilização por parte do usuário e reduzindo o tempo dispendido para os testes em bancada. Os resultados de simulações numéricas e práticos apresentam uma comparação entre a malha proposta, com a identificação paramétrica e atualiza ção dos ganhos dos controladores (controle adaptativo) e a malha com controladores com ganhos fixos.
Ferreira, Ernesto Franklin Marçal. "Melhorias de estabilidade numérica e custo computacional de aproximadores de funções valor de estado baseados em estimadores RLS para projeto online de sistemas de controle HDP-DLQR." Universidade Federal do Maranhão, 2016. http://tedebc.ufma.br:8080/jspui/handle/tede/1687.
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The development and the numerical stability analysis of a new adaptive critic algorithm to approximate the state-value function for online discrete linear quadratic regulator (DLQR) optimal control system design based on heuristic dynamic programming (HDP) are presented in this work. The proposed algorithm makes use of unitary transformations and QR decomposition methods to improve the online learning e-ciency in the critic network through the recursive least-squares (RLS) approach. The developed learning strategy provides computational performance improvements in terms of numerical stability and computational cost which aim at making possible the implementations in real time of optimal control design methodology based upon actor-critic reinforcement learning paradigms. The convergence behavior and numerical stability of the proposed online algorithm, called RLSµ-QR-HDP-DLQR, are evaluated by computational simulations in three Multiple-Input and Multiple-Output (MIMO) models, that represent the automatic pilot of an F-16 aircraft of third order, a fourth order RLC circuit with two input voltages and two controllable voltage levels, and a doubly-fed induction generator with six inputs and six outputs for wind energy conversion systems.
Neste trabalho, apresenta-se o desenvolvimento e a análise da estabilidade numérica de um novo algoritmo crítico adaptativo para aproximar a função valor de estado para o projeto do sistema de controle ótimo online, utilizando o regulador linear quadrático discreto (DLQR), com base em programação dinâmica heurística (HDP). O algoritmo proposto faz uso de transformações unitárias e métodos de decomposição QR para melhorar a e-ciência da aprendizagem online na rede crítica por meio da abordagem dos mínimos quadrados recursivos (RLS). A estratégia de aprendizagem desenvolvida fornece melhorias no desempenho computacional em termos de estabilidade numérica e custo computacional, que visam tornar possíveis as implementações em tempo real da metodologia do projeto de controle ótimo com base em paradigmas de aprendizado por reforço ator-crítico. O comportamento de convergência e estabilidade numérica do algoritmo online proposto, denominado RLSµ-QR-HDP-DLQR, são avaliados por meio de simulações computacionais em três modelos Múltiplas-Entradas e Múltiplas-Saídas (MIMO), que representam o piloto automático de uma aeronave F-16 de terceira ordem, um circuito de quarta ordem RLC com duas tensões de entrada e dois níveis de tensão controláveis, e um gerador de indução duplamente alimentados com seis entradas e seis saídas para sistemas de conversão de energia eólica.
RÊGO, Patrícia Helena Moraes. "Aprendizagem por Reforço e Programação Dinâmica Aproximada para Controle Ótimo: Uma Abordagem para o Projeto Online do Regulador Linear Quadrático Discreto com Programação Dinâmica Heurística Dependente de Estado e Ação." Universidade Federal do Maranhão, 2014. http://tedebc.ufma.br:8080/jspui/handle/tede/1879.
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In this thesis a proposal of an uni ed approach of dynamic programming, reinforcement learning and function approximation theories aiming at the development of methods and algorithms for design of optimal control systems is presented. This approach is presented in the approximate dynamic programming context that allows approximating the optimal feedback solution as to reduce the computational complexity associated to the conventional dynamic programming methods for optimal control of multivariable systems. Speci cally, in the state and action dependent heuristic dynamic programming framework, this proposal is oriented for the development of online approximated solutions, numerically stable, of the Riccati-type Hamilton-Jacobi-Bellman equation associated to the discrete linear quadratic regulator problem which is based on a formulation that combines value function estimates by means of a RLS (Recursive Least-Squares) structure, temporal di erences and policy improvements. The development of the proposed methodologies, in this work, is focused mainly on the UDU T factorization that is inserted in this framework to improve the RLS estimation process of optimal decision policies of the discrete linear quadratic regulator, by circumventing convergence and numerical stability problems related to the covariance matrix ill-conditioning of the RLS approach.
Apresenta-se nesta tese uma proposta de uma abordagem uni cada de teorias de programação dinâmica, aprendizagem por reforço e aproximação de função que tem por objetivo o desenvolvimento de métodos e algoritmos para projeto online de sistemas de controle ótimo. Esta abordagem é apresentada no contexto de programação dinâmica aproximada que permite aproximar a solução de realimentação ótima de modo a reduzir a complexidade computacional associada com métodos convencionais de programação dinâmica para controle ótimo de sistemas multivariáveis. Especi camente, no quadro de programação dinâmica heurística e programação dinâmica heurística dependente de ação, esta proposta é orientada para o desenvolvimento de soluções aproximadas online, numericamente estáveis, da equação de Hamilton-Jacobi-Bellman do tipo Riccati associada ao problema do regulador linear quadrático discreto que tem por base uma formulação que combina estimativas da função valor por meio de uma estrutura RLS (do inglês Recursive Least-Squares), diferenças temporais e melhorias de política. O desenvolvimento das metodologias propostas, neste trabalho, tem seu foco principal voltado para a fatoração UDU T que é inserida neste quadro para melhorar o processo de estimação RLS de políticas de decisão ótimas do regulador linear quadrá- tico discreto, contornando-se problemas de convergência e estabilidade numérica relacionados com o mal condicionamento da matriz de covariância da abordagem RLS.
Khereddine, Rafik. "Méthode adaptative de contrôle logique et de test de circuits AMS/FR." Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00647169.
Evestedt, Magnus. "Parameter and State Estimation with Information-rich Signals." Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis Acta Universitatis Upsaliensis, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-8315.
Mattei, Giovanni. "Robust nonlinear control : from continuous time to sampled-data with aerospace applications." Thesis, Paris 11, 2015. http://www.theses.fr/2015PA112025/document.
The dissertation deals with the problems of stabilization and control of nonlinear systems with deterministic model uncertainties. First, in the context of uncertain systems analysis, we introduce and explain the basic concepts of robust stability and stabilizability. Then, we propose a method of stabilization via state-feedback in presence of unmatched uncertainties in the dynamics. The recursive backstepping approach allows to compensate the uncertain terms acting outside the control span and to construct a robust control Lyapunov function, which is exploited in the subsequent design of a compensator for the matched uncertainties. The obtained controller is called recursive Lyapunov redesign. Next, we introduce the stabilization technique through Immersion \& Invariance (I\&I) as a tool to improve the robustness of a given nonlinear controller with respect to unmodeled dynamics. The recursive Lyapunov redesign is then applied to the attitude stabilization of a spacecraft with flexible appendages and to the autopilot design of an asymmetric air-to-air missile. Contextually, we develop a systematic method to rapidly evaluate the aerodynamic perturbation terms exploiting the deterministic model of the uncertainty. The effectiveness of the proposed controller is highlighted through several simulations in the second case-study considered. In the final part of the work, the technique of I\& I is reformulated in the digital setting in the case of a special class of systems in feedback form, for which constructive continuous-time solutions exist, by means of backstepping and nonlinear domination arguments. The sampled-data implementation is based on a multi-rate control solution, whose existence is guaranteed for the class of systems considered. The digital controller guarantees, under sampling, the properties of manifold attractivity and trajectory boundedness. The control law, computed by finite approximation of a series expansion, is finally validated through numerical simulations in two academic examples and in two case-studies, namely the cart-pendulum system and the rigid spacecraft
Nyberg, Tobias. "Torque-Based Load Estimation for Passenger Vehicles." Thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-179208.
Kalivoda, Jakub. "Adaptivní řízení varny malého pivovaru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2014. http://www.nusl.cz/ntk/nusl-220959.
Bush, V. J. "Recursion transformations for run-time control of parallel computations." Thesis, University of Manchester, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.382888.
Bodin, Camilla. "Automatic Flight Maneuver Identification Using Machine Learning Methods." Thesis, Linköpings universitet, Reglerteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-165844.
Zuo, Jian. "The Frequency Monitor Network (FNET) Design and Situation Awareness Algorithm Development." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/26721.
Ph. D.
Åfeldt, Tom. "Adaptive Steering Behaviour for Heavy Duty Vehicles." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215134.
Idag används till största del regelbaserade reglersystem förförarassistanssystem i lastbilar. Men lastbilschaufförer vill ha någotmer personligt och flexibelt, som kan styra lastbilen på ett mänskligtsätt med förarens egna preferenser. Maskininlärning och artificiell intelligenskan hjälpa till för att uppnå detta mål. I denna studie användsartificiella neurala nätverk för att modellera förarens styrbeteende genomScania Lane Keeping Assist. Med användning av detta modellerasförarens preferenser med avseende på placering på vägbanan och momentpåslag på ratten. En modell prediktiv kontroller kan användas föratt begränsa tillstånd och för att väga de två modellerade preferensernamot varann. Eftersom det var mycket svårt att ta fram den internaprocessmodellen som krävdes för regulatorn används istället en variantav en PI-kontroller för att styra lastbilen. De artificiella neuralanätverken kan också tillåtas att lära sig under körning för att anpassasig till förarens preferenser över tid.
Lemonnier, Louis. "The Semantics of Effects : Centrality, Quantum Control and Reversible Recursion." Electronic Thesis or Diss., université Paris-Saclay, 2024. http://www.theses.fr/2024UPASG030.
The topic of this thesis revolves around the theory of programming languages. In a sufficiently well-defined programming language, the behaviour of programs can be studied with tools borrowed from logic and mathematics, allowing us to state results without executing the code. This area of computer science is called “semantics”. The semantics of a programming language can take several forms: in this thesis, we work with operational semantics, equational theories, and denotational semantics. The former gives an operational meaning to programs but within the language's syntax. It simulates the operations a computer is supposed to perform if it were running the program. An equational theory also works syntactically: it indicates whether two programs perform the same operation without giving any information on the procedure. Lastly, denotational semantics is the mathematical study of programs, usually done with the help of category theory. For example, it allows us to prove whether a program terminates. This thesis focuses on the semantics of effects in programming languages - namely, a feature added to a language, e.g. handling side data or probabilistic outputs. Eugenio Moggi, in 1991, published foundational work on the study of the semantics of effects, highlighting the relationship with monads in category theory. The first contribution of this thesis directly follows Moggi's work, studying the commutativity of effects in a programming language through the prism of monads. Monads are the generalisation of algebraic structures such as monoids, which have a notion of centre: the centre of a monoid is a collection of elements which commute with all others in the monoid. We provide the necessary and sufficient conditions for a monad to have a centre. We also detail the semantics of a programming language with effects that carry information on which effects are central. Moreover, we provide a strong link - an internal language result - between its equational theories and its denotational semantics. The second focus of the thesis is quantum computing, which is seen as a reversible effect. Quantum computing is an emergent field in computer science that uses the power of quantum mechanics to compute. At the level of programming languages, new paradigms need to be developed to be faithful to quantum operations. Physically permissible quantum operations are all reversible, except measurement; however, measurement can be deferred at the end of the computation, allowing us to focus on the reversible part first and then apply measurement to obtain results. In the corresponding chapter, we define a simply-typed reversible programming language performing quantum operations called “unitaries”. A denotational semantics and an equational theory adapted to the language are presented, and we prove that the latter is complete. The aim of this work is to provide a solid foundation for the study of higher-order quantum control. Furthermore, we study recursion in reversible programming, providing adequate operational and denotational semantics to a Turing-complete, reversible, functional programming language. The denotational semantics uses the dcpo enrichment of rig join inverse categories. This mathematical account of higher-order reasoning on reversible computing does not directly generalise to its quantum counterpart. In the conclusion, we detail the limitations and possible future for higher-order quantum control
Cembalo, Agostino. "Stratégie innovante d'optimisation de la traînée aérodynamique en temps réel pour l'amélioration de l'efficacité énergétique des voitures." Electronic Thesis or Diss., Chasseneuil-du-Poitou, Ecole nationale supérieure de mécanique et d'aérotechnique, 2024. http://www.theses.fr/2024ESMA0007.
The reduction of CO2 emissions and environmental footprint represents a major challenge for the automotive industry in the 21st century, with approximately 72% of greenhouse gas emissions in the European transportation sector attributed to road transport. To address this issue, automotive manufacturers are increasingly focusing on reducing the environmental footprint of their vehicles and minimizing energy consumption. In this context, car aerodynamics plays a crucial role. This study therefore explores the challenges and opportunities associated with real-time control of vehicle’s wakes using a Predictive Control with Recursive model estimation based on a Subspace method (RSPC). We first characterize the wake of a full-scale vehicle, both in wind tunnel and on-road. The results highlight the importance of low-frequency phenomenons and quasi-static wake movements. Subsequently, we implement a control methodology aimed at regulating the angular positions of rigid flaps located at the base of the studied models to maintain a prescribed base pressure state. Among the significant results, we note that the control law succeeds in achieving defined objectives under varied conditions, including variations in yaw angle and disturbances in the underflow through the use of a movable grid placed upstream of the vehicle. The observed benefits in terms of aerodynamic drag are remarkable and model-dependent, while maintaining relatively low energy consumption. The latter varies between 0.35% and 0.6% of the dissipated aerodynamic power. In conclusion,this study opens new perspectives for vehicle aerodynamic control, offering significant opportunities for energy consumption reduction and, consequently, greenhouse gas emissions. It thus aim to mitigating the effects of climate change
Ortega, Felix Mauricio Escalante. "Filtragem e controle recursivos robustos aplicados em um pêndulo invertido." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-15092016-075814/.
The study of stability and performance in control systems is a relevant topic in systems theory. When uncertainties are considered in the model of the plant, there is a greater difficulty in ensuring an appropriate performance level of the dynamic system, plus, the stability could be compromised as well. In this dissertation a robust linear quadratic regulator and a robust Kalman filter are used in a unified manner to deal with uncertain dynamic systems in real time. The selected case study is the inverted pendulum. Its main control challenges found in the literature will be considered: stabilization, tracking and catching swing-up. The used algorithms are motivated by the fact that stochastic problems can be solved through deterministic arguments based on the concepts of penalty function and regularized least-squares. Thus, it is possible to obtain an optimal performance for the maximum acceptable uncertainty. The performance analysis of the robust control is carried out by practical experiments including uncertainties in the plant, noise in the sensors and disturbance in the pendulum control signal.