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Dissertations / Theses on the topic 'Robust control strategies'

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Published: 4 June 2021

Last updated: 1 February 2022

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1

Munoz, Carpintero Diego Alejandro. "Strategies in robust and stochastic model predictive control." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:2f6bce71-f91f-4d5a-998f-295eff5b089a.

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The presence of uncertainty in model predictive control (MPC) has been accounted for using two types of approaches: robust MPC (RMPC) and stochastic MPC (SMPC). Ideal RMPC and SMPC formulations consider closed-loop optimal control problems whose exact solution, via dynamic programming, is intractable for most systems. Much effort then has been devoted to find good compromises between the degree of optimality and computational tractability. This thesis expands on this effort and presents robust and stochastic MPC strategies with reduced online computational requirements where the conservativene

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2

Jiang, Haibo. "Robust control strategies for the transient control of interconnected power systems." Diss., Georgia Institute of Technology, 1994. http://hdl.handle.net/1853/15728.

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3

Agbi, Clarence. "Scalable and Robust Designs of Model - Based Control Strategies for Energy - Efficient Buildings." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/333.

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In the wake of rising energy costs, there is a critical need for sustainable energy management of commercial and residential buildings. Buildings consume approximately 40% of total energy consumed in the US, and current methods to reduce this level of consumption include energy monitoring, smart sensing, and advanced integrated building control. However, the building industry has been slow to replace current PID and rule-based control strategies with more advanced strategies such as model-based building control. This is largely due to the additional cost of accurately modeling the dynamics of

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4

Pannett, Richard. "A fluid power application of alternative robust control strategies." Thesis, University of Bath, 2010. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.527127.

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This thesis presents alternative methods for designing a speed controller for a hydrostatic power transmission system. Recognising that such a system, comprising a valve controlled motor supplied by the laboratory ring main and driving a hydraulic pump as a load, contains significant non-linearities, the thesis shows that robust 'modern control' approaches may be applied to produce viable controllers without recourse to the use of a detailed model of the system. In its introduction, it considers why similar approaches to the design of fluid power systems have not been applied hitherto. It then

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Revert, Tomás Ana. "Robust strategies for glucose control in type 1 diabetes." Doctoral thesis, Universitat Politècnica de València, 2015. http://hdl.handle.net/10251/56001.

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[EN] Type 1 diabetes mellitus is a chronic and incurable disease that affects millions of people all around the world. Its main characteristic is the destruction (totally or partially) of the beta cells of the pancreas. These cells are in charge of producing insulin, main hormone implied in the control of blood glucose. Keeping high levels of blood glucose for a long time has negative health effects, causing different kinds of complications. For that reason patients with type 1 diabetes mellitus need to receive insulin in an exogenous way. Since 1921 when insulin was first isolated to be used

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Filardi, Giampaolo. "Robust control design strategies applied to a DVD-video player." Université Joseph Fourier (Grenoble), 2003. http://www.theses.fr/2003GRE10200.

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7

Sanz, Díaz Ricardo. "Robust control strategies for unstable systems with input/output delays." Doctoral thesis, Universitat Politècnica de València, 2018. http://hdl.handle.net/10251/111830.

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Los sistemas con retardo temporal aparecen con frecuencia en el ámbito de la ingeniería, por ejemplo en transmisiones hidráulicas o mecánicas, procesos metalúrgicos o sistemas de control en red. Los retardos temporales han despertado el interés de los investigadores en el ámbito del control desde finales de los años 50. Se ha desarrollado una amplia gama de herramientas para el análisis de su estabilidad y prestaciones, especialmente durante las dos últimas décadas. Esta tesis se centra en la estabilización de sistemas afectados por retardos temporales en la actuación y/o la medida. Concreta

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STRÖMQVIST, HENRIK. "Robust motion control strategies for hydrofoil-equipped naval vessels considering scaling effects." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263126.

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Hydrofoil-equipped naval vessels are not new. The technique appeared at the beginning of the 20th century and there are still new developments within the field. The main principle of hydrofoils is to use fluid dynamics to generate lift much like an aircraft and lift the hull of the craft out of the water, thus reducing drag while traversing the water surface. At KTH, Royal Institute of Technology a new craft called FoilCart has been built using this principle. Due to the design, the motion control resembles that of an inverted pendulum which is a classical control problem with many ways of rea

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Gade, Prasad V. N. "Performance Enhancement and Stability Robustness of Wing/Store Flutter Suppression System." Diss., Virginia Tech, 1998. http://hdl.handle.net/10919/30339.

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In recent years, combat aircraft with external stores have experienced a decrease in their mission capabilities due to lack of robustness of the current passive wing/store flutter suppression system to both structured as well as unstructured uncertainties. The research program proposed here is to investigate the feasibility of using a piezoceramic wafer actuator for active control of store flutter with the goal of producing a robust feedback system that demonstrates increased performance as well as robustness to modeling errors. This approach treats the actuator as an active soft-decoup

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10

Moore, Brandon Joseph. "Cooperative strategies for spatial resource allocation." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1180971769.

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Beneyto, Tantiña Aleix. "Robust and fault-tolerant strategies for controlling blood glucose in patients with type 1 diabetes." Doctoral thesis, Universitat de Girona, 2020. http://hdl.handle.net/10803/670998.

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Type 1 diabetes is a serious disease that must be monitored and controlled artificially by supplying exogenous insulin to the body. The artificial pancreas (AP) is a closed-loop system that resulted from integrating an insulin pump with a CGM and uses a control algorithm to automate insulin infusion. In this work, a novel tuning system and a multivariable control approach are presented for an AP system aimed to be robust against patient variability, meals and exercise. To enhance safety, fault detection 2/2 strategies are also developed as an integral part of the system. The approaches have

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Marin, Jorge I. "Robust binaural noise-reduction strategies with binaural-hearing-aid constraints: design, analysis and practical considerations." Diss., Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/44747.

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The objective of the dissertation research is to investigate noise reduction methods for binaural hearing aids based on array and statistical signal processing and inspired by a human auditory model. In digital hearing aids, wide dynamic range compression (WDRC) is the most successful technique to deal with monaural hearing losses. This WDRC processing is usually performed after a monaural noise reduction algorithm. When hearing losses are present in both ears, i.e., a binaural hearing loss, independent monaural hearing aids have been shown not to be comfortable for most users, preferring a pr

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MARCILLO, Kevin Eduardo Lucas. "Performance evaluation of robust parametric control strategies applied on suppression of oscillations effects due to constant power loads in multi-converter buck-buck systems." Universidade Federal do Pará, 2018. http://repositorio.ufpa.br/jspui/handle/2011/10257.

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Submitted by Luciclea Silva (luci@ufpa.br) on 2018-09-25T17:40:10Z No. of bitstreams: 2 license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Dissertacao_Perfomanceevaluationrobust.pdf: 5317740 bytes, checksum: 4bd1f1a3fd9e888155a633221aa5e096 (MD5)<br>Approved for entry into archive by Luciclea Silva (luci@ufpa.br) on 2018-09-25T17:40:47Z (GMT) No. of bitstreams: 2 license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Dissertacao_Perfomanceevaluationrobust.pdf: 5317740 bytes, checksum: 4bd1f1a3fd9e888155a633221aa5e096 (MD5)<br>Made available in DSpace on

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Laut, Jeffrey W. "A Dynamic Parameter Identification Method for Migrating Control Strategies Between Heterogeneous Wheeled Mobile Robots." Digital WPI, 2011. https://digitalcommons.wpi.edu/etd-theses/848.

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"Recent works on the control of wheeled mobile robots have shifted from the use of the kinematic model to the use of the dynamic model. Since theoretical results typically treat the inputs to the dynamic model as torques, few experimental results have been provided, as torque is typically not the input to most commercially available robots. Few papers have implemented controllers based on the dynamic model, and those that have did not address the issue of identifying the parameters of the dynamic model. This work focuses on a method for identifying the parameters of the dynamic model of a whe

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15

Round, Philip A. "Simulation of robot manipulator control strategies." Thesis, Aston University, 1988. http://publications.aston.ac.uk/11918/.

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The high capital cost of robots prohibit their economic application. One method of making their application more economic is to increase their operating speed. This can be done in a number of ways e.g. redesign of robot geometry, improving actuators and improving control system design. In this thesis the control system design is considered. It is identified in the literature review that two aspects in relation to robot control system design have not been addressed in any great detail by previous researchers. These are: how significant are the coupling terms in the dynamic equations of the robo

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Furci, Michele <1988&gt. "Mobile Robots Control and Path Planning Strategies." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amsdottorato.unibo.it/7511/.

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Mobile robots gained lots of attention in the last decades. Because of its flexibility and increased capabilities of automation, mobile robots are used in many applications: from domotic, to search and rescue missions, to agriculture, environment protection and many more. The main capability of mobile robots to accomplish a mission is the mobility in the work environment. To move in a certain environment the robots should achieve: guidance, navigation and control. This thesis focuses on guidance and control of mobile robots, with application to certain classes of robots: Vertical Take Off an

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17

Melhuish, C. R. "Strategies for collective minimalist mobile robots." Thesis, University of the West of England, Bristol, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.265090.

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18

Kang, Hoon. "Intelligent/adaptive control strategies for robot manipulators." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/13882.

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19

Sabattini, Lorenzo <1983&gt. "Nonlinear Control Strategies for Cooperative Control of Multi-Robot Systems." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2012. http://amsdottorato.unibo.it/4465/.

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This thesis deals with distributed control strategies for cooperative control of multi-robot systems. Specifically, distributed coordination strategies are presented for groups of mobile robots. The formation control problem is initially solved exploiting artificial potential fields. The purpose of the presented formation control algorithm is to drive a group of mobile robots to create a completely arbitrarily shaped formation. Robots are initially controlled to create a regular polygon formation. A bijective coordinate transformation is then exploited to extend the scope of this strategy, to

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20

Thomas, Peter James, and p. thomas@cqu edu au. "Evolutionary Learning of Control and Strategies in Robot Soccer." Central Queensland University. School of Advanced Technologies and Processes, 2003. http://library-resources.cqu.edu.au./thesis/adt-QCQU/public/adt-QCQU20040628.153250.

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Robot soccer provides a fertile environment for the development of artificial intelligence techniques. Robot controls require high speed lower level reactive layers as well as higher level deliberative functions. This thesis focuses on a number of aspects in the robot soccer arena. Topics covered include boundary avoidance strategies, vision detection and the application of evolutionary learning to find fuzzy controllers for the control of mobile robot. A three input, two output controller using two angles and a distance as the input and producing two wheel velocity outputs, was developed

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21

Albin, Aaron Thomas. "Musical swarm robot simulation strategies." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42862.

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Swarm robotics for music is a relatively new way to explore algorithmic composition as well as new modes of human robot interaction. This work outlines a strategy for making music with a robotic swarm constrained by acoustic sound, rhythmic music using sequencers, motion causing changes in the music, and finally human and swarm interaction. Two novel simulation programs are created in this thesis: the first is a multi-agent simulation designed to explore suitable parameters for motion to music mappings as well as parameters for real time interaction. The second is a boid-based robotic swarm si

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22

Yu, Weiwei. "Contribution to study and implementation of intelligent adaptive control strategies : application to control of complex dynamic systems." Phd thesis, Université Paris-Est, 2011. http://tel.archives-ouvertes.fr/tel-00665586.

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The main limitation of the CMAC (Cerebellar Model Articulation Controller) network in realistic applications for complex automated systems (robots, automated vehicles, etc...) is related to the required memory size. It is pertinent to remind that the memory used by CMAC depends firstly on the input signal quantification step and secondly on the input space dimension. For real CMAC based control applications, on the one hand, in order to increase the accuracy of the control the chosen quantification step must be as small as possible; on the other hand, generally the input space dimension is gre

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23

Rodrigues, de Campos Gabriel. "Stratégies de commande collaborative pour des systèmes multi-robots." Phd thesis, Université de Grenoble, 2012. http://tel.archives-ouvertes.fr/tel-00981962.

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Cette thèse porte sur des stratégies distribuées pour systèmes multi-robot. Tout d'abord, nous nous focalisons sur des algorithmes de consensus pour des systèmes hétérogènes qui représente, par exemple, différents modèles ou générations de robots. Dans la suite, nous proposons deux solutions pour améliorer les propriétés de connectivité du système. Tout d'abord, nous montrons comment améliorer la vitesse de convergence des algorithmes de consensus en modifiant les protocoles classiques. Plus précisément, nous appliquons le principe de retard stabilisant et nous montrons comment de l'informatio

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Naveau, Maximilien. "Advanced human inspired walking strategies for humanoid robots." Thesis, Toulouse 3, 2016. http://www.theses.fr/2016TOU30188/document.

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Cette thèse traite du problème de la locomotion des robots humanoïdes dans le contexte du projet européen KoroiBot. En s'inspirant de l'être humain, l'objectif de ce projet est l'amélioration des capacités des robots humanoïdes à se mouvoir de façon dynamique et polyvalente. Le coeur de l'approche scientifique repose sur l'utilisation du controle optimal, à la fois pour l'identification des couts optimisés par l'être humain et pour leur mise en oeuvre sur les robots des partenaires roboticiens. Cette thèse s'illustre donc par une collaboration à la fois avec des mathématiciens du contrôle et d

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Gregorio, Pedro. "Design, control and energy minimization strategies for an electrically actuated legged robot." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22651.

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We have built a planar one-legged robot (the ARL Monopod) to study the design, control and energetics of autonomous dynamically stable legged machines. Our 15kg robot is actuated by two low power 80W DC electric motors, yet it operates in a stable and robust fashion up to a running speed of 4.3km/hr (1.2m/s). Both design and control of our machine borrow heavily from Raibert's work whose robots use much more powerful hydraulic actuators. Despite our comparatively low power available for actuation, only the hopping height controller had to be modified to achieve stable running. In order to impr

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Pontes, José Pedro do Carmo. "A hybrid and adaptive approach to humanoid locomotion : blending rhythmic primitives and feet placement strategies." Electronic Thesis or Diss., Sorbonne université, 2019. http://www.theses.fr/2019SORUS083.

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Cette thèse présente des recherches développées pour une optimisation adaptative et efficace des contrôleurs de locomotion des robots humanoı̈des. Elle répond à cet objectif en combinant les caractéristiques de la locomotion humanoı̈de et l’impact de différents environnements dans sa dynamique, ainsi que des techniques d’optimisation mathématique et d’analyse statistique. Les contrôleurs pour la locomotion des robots bipèdes font souvent face à des défis concernant leur optimisation vers différents objectifs et environnements. Nous proposons une architecture qui utilise les informations recuei

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Cislo, Nathalie. "Systeme de telepresence : determination d'une strategie de controle-commande-communication a partir d'une analyse des equivalences morphologiques." Paris 6, 1999. http://www.theses.fr/1999PA066114.

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Cette these presente l'analyse d'equivalences morphologiques pour la determination d'une strategie de controle-commande-communication pour un systeme de telepresence. Elle s'inscrit dans le cadre du projet ramses (robot autonome mobile a systeme evolue de sustentation roues-pattes), developpe au laboratoire de robotique de paris pour l'intervention. La caracterisation d'un systeme de telepresence est basee sur la synthese d'etudes realisees en robotique, teleoperation, realite virtuelle et sciences cognitives. Pour une interaction homme-systeme performante, minimisant la charge de travail de l

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Wang, Ting. "Contribution à l’étude, la conception et la mise en oeuvre de stratégie de contrôle intelligent distribué en robotique collective." Thesis, Paris Est, 2012. http://www.theses.fr/2012PEST1109/document.

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L'objectif de cette thèse s'inscrit dans la cadre général du développement d'une stratégie de contrôle intelligent distribué en robotique collective. En effet, dans un avenir proche, de nombreux robots vont progressivement intégrer notre environnent aussi bien dans les milieux industriel que domestique. L'objectif de ces robots sera de fournir, de manière autonome, des services aux êtres humains afin de leurs faciliter la vie quotidienne comme par exemple dans le cas de robots compagnons. Ces services pourront être le résultat du travail d'un robot ou bien la conséquence de la coopération de p

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Jäntsch, Michael [Verfasser], Alois [Akademischer Betreuer] Knoll, and Guido [Akademischer Betreuer] Herrmann. "Non-Linear Control Strategies for Musculoskeletal Robots / Michael Jäntsch. Gutachter: Guido Herrmann ; Alois Knoll. Betreuer: Alois Knoll." München : Universitätsbibliothek der TU München, 2014. http://d-nb.info/1050025814/34.

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Sidhu, Anmol. "Development of an Autonomous Test Driver and Strategies for Vehicle Dynamics Testing and Lateral Motion Control." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1269352974.

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Jaimes, Jonathan Campo. "Ankle torque estimation for lower-limb robotic rehabilitation." Universidade de São Paulo, 2018. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-08102018-164536/.

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In robotic rehabilitation therapies, knowledge of human joint torques is important for patient safety, to provide a reliable data for clinical assessment and to increase control performance of the device, nevertheless, its measurement can be complex or have a highcost implementation. The most of techniques for torque estimation have been developed for upper limb robotic rehabilitation devices, in addition, they typically require detailed anthropometric and musculoskeletal models. In this dissertation is presented the ankle torque estimation for the Anklebot robot, the estimation uses an ankle/

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Olivier, Christian. "Strategies d'acquisition, de traitement et de prise en compte d'informations en vue du controle d'un robot en environnement non structure." Paris 11, 1993. http://www.theses.fr/1993PA112165.

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La surveillance automatique d'un environnement dynamique par un systeme autonome multicapteurs s'illustre par un grand nombre de points durs theoriques de modelisation, d'estimation, et de gestion de la complexite. Nous concentrant sur les modeles stochastiques, nous montrons que la gestion des ressources de perception et de calcul que sont les capteurs, les algorithmes, les processeurs et les reseaux de communication constitue en soi une problematique de controle dont la fonction de cout est informationnelle. L'optimisation des strategies de perception est en fait couplee a une theorie de la

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Samy, Vincent. "Commande de chute pour robots humanoïdes par reconfiguration posturale et compliance adaptative." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS059/document.

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Cette thèse traite du problème de la chute de robots humanoïdes. L’étude consiste à découpler la stratégie de chute en une phase de pré-impact et une phase de post-impact. Dans la première, une solution géométrique permet au robot de choisir des points d’impact dans un environnement encombré. Pour ce faire, le robot réadapte sa posture tout en évident les singularités de chute et en préparant le seconde phase. La phase de post-impact utilise une commande par Programmation Quadratique (QP) qui permet d’adapter les gains Proportionnels-Dérivés (PD)des moteurs en ligne, ceci afin d’obtenir de la

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Al-Gherwi, Walid. "Robust Distributed Model Predictive Control Strategies of Chemical Processes." Thesis, 2010. http://hdl.handle.net/10012/5503.

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This work focuses on the robustness issues related to distributed model predictive control (DMPC) strategies in the presence of model uncertainty. The robustness of DMPC with respect to model uncertainty has been identified by researchers as a key factor in the successful application of DMPC. A first task towards the formulation of robust DMPC strategy was to propose a new systematic methodology for the selection of a control structure in the context of DMPC. The methodology is based on the trade-off between performance and simplicity of structure (e.g., a centralized versus decentralized stru

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Webb, Christopher John. "Robust Control Strategies for a Fixed Bed Chemical Reactor." Thesis, 1990. https://thesis.library.caltech.edu/4542/1/Webb_cj_1990.pdf.

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<p>This thesis addresses the practical application of robust control design to an experimental fixed bed reactor. Controllers are designed using robust control theory, specifically, Structured Singular Value analysis and Internal Model Control theory. These controllers are guaranteed to be stable and have good performance even when there is plant-model mismatch. To understand the sources of model mismatch and how model mismatch affects a fixed bed reactor's control design, an experimental methanation reactor was constructed.</p> <p>The reactor is non-adiabatic with a constant wall temperat

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Hsu, Sheng-Yen, and 許勝彥. "CPG-inspired Control Strategies for Adaptive Locomotion of Hexapod Robot." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/51736262607804509027.

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碩士<br>國立中央大學<br>電機工程學系<br>102<br>In this thesis, we built a controller that can produce rhythmic locomotion inspired by biology concepts of CPG(Central Pattern Generator). CPG, a group of lower-level neural oscillators coupled each other in the creature’s central system, can produce coordinated oscillatory signals for rhythmic locomotion. The oscillatory signals can be modulated by sensory stimulator or higher-level input. We used the Matsuoka's neural oscillator to construct CPG-based controller of the Hexapod walking robot for generating feet control signals. The body attitude, used for feed

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Chang, Min-Tzung, and 張簡民崇. "Control of Multi-robot Formations and Behaviors Based on Decentralized Strategies." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/36gvn6.

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碩士<br>國立高雄第一科技大學<br>系統與控制工程研究所<br>94<br>ABSTRACT This thesis studies the multi-robot in formation control with three strategies and four formations(line, column, diamond and V formaion), and cooperate with disinged four behaviors : going forward, going backward, turning left and turning right, and two complex behaviors : crossing over a door and avoiding obstacles.We adjust the gains in control strategies for better performance. Our results include simulations using a simulator consists of five nonholonomic robots.

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(7954217), Hao Xiong. "Development of Learning Control Strategies for a Cable-Driven Device Assisting a Human Joint." Thesis, 2019.

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<div>There are millions of individuals in the world who currently experience limited mobility as a result of aging, stroke, injuries to the brain or spinal cord, and certain neurological diseases. Robotic Assistive Devices (RADs) have shown superiority in helping people with limited mobility by providing physical movement assistance. However, RADs currently existing on the market for people with limited mobility are still far from intelligent.</div><div><br></div><div>Learning control strategies are developed in this study to make a Cable-Driven Assistive Device (CDAD) intelligent in assisting

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Yagi, Masahiro. "Synthesis of control strategies for planar biped robot locomotion in the presence of disturbances." 1997. http://catalog.hathitrust.org/api/volumes/oclc/37531922.html.

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Thesis (M.S.)--University of Wisconsin--Madison, 1997.<br>Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 95-97).

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"Ant-Inspired Control Strategies for Collective Transport by Dynamic Multi-Robot Teams with Temporary Leaders." Master's thesis, 2020. http://hdl.handle.net/2286/R.I.57368.

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abstract: In certain ant species, groups of ants work together to transport food and materials back to their nests. In some cases, the group exhibits a leader-follower behavior in which a single ant guides the entire group based on its knowledge of the destination. In some cases, the leader role is occupied temporarily by an ant, only to be replaced when an ant with new information arrives. This kind of behavior can be very useful in uncertain environments where robot teams work together to transport a heavy or bulky payload. The purpose of this research was to study ways to implement this beh

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"Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks." Doctoral diss., 2017. http://hdl.handle.net/2286/R.I.44017.

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abstract: Swarms of low-cost, autonomous robots can potentially be used to collectively perform tasks over large domains and long time scales. The design of decentralized, scalable swarm control strategies will enable the development of robotic systems that can execute such tasks with a high degree of parallelism and redundancy, enabling effective operation even in the presence of unknown environmental factors and individual robot failures. Social insect colonies provide a rich source of inspiration for these types of control approaches, since they can perform complex collective tasks under a

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