+publisher:"University of Illinois – Urbana-Champaign" +contributor:("Langbort, Cedric")

University of Illinois – Urbana-Champaign

1. Cheng, Albert Z. Some decentralized optimization and control algorithms for the control of wind farms.

Degree: MS, 0133, 2011, University of Illinois – Urbana-Champaign

► This is a preliminary study of decentralized algorithms that can be applied to wind farm controls. Traditionally, wind farm control is comprised of the wind… (more)

▼ This is a preliminary study of decentralized algorithms that can be applied to wind farm controls. Traditionally, wind farm control is comprised of the wind farm level control and the wind turbine level control. The wind farm level control is a centralized controller that takes the demands from the grid and generates operating points for each wind turbine within the wind farm. The wind turbine level control then generates the optimal control for each turbine to match the operating point. Unfortunately, this traditional control scheme does not constitute the optimal operation of a wind farm due to it???s disregard at either level of control for the interactions between wind turbines in the wind farm . Consequently, a different two level control scheme is proposed in this thesis. This control scheme is shown to be a decentralized controller in that each wind turbine has the ability to both generate its own operating point and calculate its own optimal control. Through the communication of the wind turbines with each other, the interactions between the wind turbines are incorporated into both levels of control. The generation of the operating point is posed as a stochastic resource allocation problem that takes into account the stochastic wind and other wind farm characteristics. We develop a stochastic algorithm based on network dynamic system theory to solve the resource allocation problem. We show that the algorithm converges to the solution of the resource allocation problem almost surely. The calculation of each wind turbine???s optimal control is formulated as an Linear Quadratic Regulator (LQR) optimization problem with a equality constraint. We develop an algorithm that is based on the Tatonnement process in Economics to solve the LQR problem. We first consider the performance of the algorithm in a dynamically decoupled system and show that the algorithm solves the LQR problem. We then consider the performance of the algorithm in a dynamically coupled system and discuss the difference between the two cases. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (advisor).

Subjects/Keywords: Decentralized control; Network control; Wind farm control

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APA (6^th Edition):

Cheng, A. Z. (2011). Some decentralized optimization and control algorithms for the control of wind farms. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/24125

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Cheng, Albert Z. “Some decentralized optimization and control algorithms for the control of wind farms.” 2011. Thesis, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/24125.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Cheng, Albert Z. “Some decentralized optimization and control algorithms for the control of wind farms.” 2011. Web. 25 Mar 2019.

Vancouver:

Cheng AZ. Some decentralized optimization and control algorithms for the control of wind farms. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2011. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/24125.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Cheng AZ. Some decentralized optimization and control algorithms for the control of wind farms. [Thesis]. University of Illinois – Urbana-Champaign; 2011. Available from: http://hdl.handle.net/2142/24125

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

2. Koehn, Thaddeus E. Controlled optical soliton propagation using theoretical tunable dispersion fibers.

Degree: MS, 1200, 2010, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/14734

► The increased demand for high bandwidth communication channels has raised significant interest in overcoming the data rate limitations of fiber communication systems. In this thesis… (more)

Subjects/Keywords: Nonlinear; Soliton; control; Hopf; bifurcation; optical fiber; supervisory, tunable dispersion

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APA (6^th Edition):

Koehn, T. E. (2010). Controlled optical soliton propagation using theoretical tunable dispersion fibers. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/14734

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Koehn, Thaddeus E. “Controlled optical soliton propagation using theoretical tunable dispersion fibers.” 2010. Thesis, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/14734.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Koehn, Thaddeus E. “Controlled optical soliton propagation using theoretical tunable dispersion fibers.” 2010. Web. 25 Mar 2019.

Vancouver:

Koehn TE. Controlled optical soliton propagation using theoretical tunable dispersion fibers. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2010. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/14734.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Koehn TE. Controlled optical soliton propagation using theoretical tunable dispersion fibers. [Thesis]. University of Illinois – Urbana-Champaign; 2010. Available from: http://hdl.handle.net/2142/14734

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

3. Tanaka, Takashi. Symmetric formulation of the Kalman-Yakubovich-Popov lemma and its application to distributed control of positive systems.

Degree: PhD, 4048, 2012, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/42490

► This thesis makes three theoretical contributions to the robust system analysis and control theory. First, we revisit a central theorem in robust control theory known… (more)

▼ This thesis makes three theoretical contributions to the robust system analysis and control theory. First, we revisit a central theorem in robust control theory known as the the Kalman-Yakubovich-Popov (KYP) lemma, and uncover its "hidden" symmetric structure that is rarely articulated in the literature of robustness analysis. Roughly speaking, we propose a new formulation of the KYP lemma so that two seemingly different quantities, "frequency" and "system uncertainties" play symmetric roles in the robust stability analysis. It turns out that the new formulation has sufficient generality to unify some of the recent extensions of the KYP lemma. Further consideration of this symmetry naturally leads us to the notion of mutual losslessness, which is the exact condition for the lossless of the analysis. As a result, the new formulation provides a general framework that answers when the KYP-like robustness analysis is lossless. Second, we restrict our focus to the class of cone-preserving linear dynamical systems. Square MIMO transfer functions in this class have what we call the DC-dominance property: the spectral radius of the transfer function attains its maximum at zero frequency and hence, the stability of the interconnected transfer functions is guaranteed solely by the static gain analysis. Using this property, we prove the delay-independent stability of cone-preserving delay differential equations. This provides an alternative proof of the delay-independent mean-square stability of multi-dimensional geometric Brownian motions. Finally, we further restrict our focus to the special class of cone-preserving systems known as positive systems. We prove a novel "diagonal" KYP lemma for positive systems, which ensures the existence of a diagonal storage function without introducing conservatism whenever the system is contractive. This result suggests that a certain class of distributed optimal control for positive systems can be found via the semidefinite programming (SDP). Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (advisor), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Voulgaris%2C%20Petros%20G.%22%29&pagesize-30">Voulgaris, Petros G. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Dullerud%2C%20Geir%20E.%22%29&pagesize-30">Dullerud, Geir E. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Rantzer%2C%20Anders%22%29&pagesize-30">Rantzer, Anders (committee member).

Subjects/Keywords: Robust control; Distributed control; Kalman-Yakubovich-Popov (KYP) lemma; Positive Systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Tanaka, T. (2012). Symmetric formulation of the Kalman-Yakubovich-Popov lemma and its application to distributed control of positive systems. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/42490

Chicago Manual of Style (16^th Edition):

Tanaka, Takashi. “Symmetric formulation of the Kalman-Yakubovich-Popov lemma and its application to distributed control of positive systems.” 2012. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/42490.

MLA Handbook (7^th Edition):

Tanaka, Takashi. “Symmetric formulation of the Kalman-Yakubovich-Popov lemma and its application to distributed control of positive systems.” 2012. Web. 25 Mar 2019.

Vancouver:

Tanaka T. Symmetric formulation of the Kalman-Yakubovich-Popov lemma and its application to distributed control of positive systems. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2012. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/42490.

Council of Science Editors:

Tanaka T. Symmetric formulation of the Kalman-Yakubovich-Popov lemma and its application to distributed control of positive systems. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2012. Available from: http://hdl.handle.net/2142/42490

4. Gupta, Abhishek. Dynamic sequential decision problems with asymmetric information: some existence results.

Degree: PhD, 4048, 2014, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/50522

► The thesis focuses on a few fundamental problems in multi-player dynamic sequential decision problems – games and teams – with asymmetric information. It is divided… (more)

▼ The thesis focuses on a few fundamental problems in multi-player dynamic sequential decision problems – games and teams – with asymmetric information. It is divided into two parts and addresses six broad theoretical problems. In the first part of the thesis, the focus is on dynamic games, in which the decision makers do not observe the same set of random variables at every time step of the play. In the second part of the thesis, the focus is on static and dynamic teams in which the decision makers may or may not share their observations with each other. This part of the thesis partially resolves a long-standing open question in stochastic control theory, which is to establish the existence of team-optimal solutions in teams with non-classical information structures. To solve all problems, a two-step solution approach is adopted; the first step involves identifying an equivalent decision problem with expanded state, observation, and action spaces of the decision makers, and the second step consists of solving this equivalent problem and then projecting the solution back to the original problem. Information asymmetry among decision makers naturally arises in numerous social, economic, and engineering settings. An auction is an example of a game of asymmetric information. The value of the object to a bidder is known only to that bidder, but not known to other bidders. However, the decisions of all the bidders affect the outcome of the auction. A communication system comprising an encoder and a decoder is a team with asymmetric information. The encoder wants to communicate a randomly generated message to the decoder via a noisy channel. The decision makers here are the encoder and the decoder, who decide, respectively, on the encoding and decoding strategies to minimize the expected distortion between the original and the decoded messages subject to certain communication or energy constraints. Despite ubiquity of scenarios in which information asymmetry appears, very few results exist on the existence of suitable solutions in such problems. The purpose of this thesis is to identify sufficiently general conditions under which suitable solutions exist in dynamic stochastic games and teams with asymmetric information. The first part of the thesis studies three problems pertinent to games with asymmetric information. In the first problem, a refinement concept for Nash equilibrium is presented, called common information based Markov perfect equilibrium (CIMPE), for a class of two-player dynamic linear-Gaussian (LG) games of asymmetric information satisfying two general conditions. The most appealing property of CIMPE is that it can be computed using a backward induction algorithm. Further, if the cost functions of the decision makers are quadratic in their arguments (called LQG games) and satisfy certain conditions, then the game is proven to admit a unique CIMPE, which can be computed by solving for the unknowns in a succession of linear equations. A two-step solution approach is adopted to prove the results and… Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Basar%2C%20Tamer%22%29&pagesize-30">Basar, Tamer (advisor), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (advisor), Champaign%22%20%2Bcontributor%3A%28%22Basar%2C%20Tamer%22%29&pagesize-30">Basar, Tamer (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Raginsky%2C%20Maxim%22%29&pagesize-30">Raginsky, Maxim (committee member), Champaign%22%20%2Bcontributor%3A%28%22Namachchivaya%2C%20N.%20Sri%22%29&pagesize-30">Namachchivaya, N. Sri (committee member), Champaign%22%20%2Bcontributor%3A%28%22Teneketzis%2C%20Demosthenis%22%29&pagesize-30">Teneketzis, Demosthenis (committee member).

Subjects/Keywords: Game theory; Team theory; Optimization with information constraints; Nash equilibrium; Decision problems; Control theory

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Gupta, A. (2014). Dynamic sequential decision problems with asymmetric information: some existence results. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/50522

Chicago Manual of Style (16^th Edition):

Gupta, Abhishek. “Dynamic sequential decision problems with asymmetric information: some existence results.” 2014. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/50522.

MLA Handbook (7^th Edition):

Gupta, Abhishek. “Dynamic sequential decision problems with asymmetric information: some existence results.” 2014. Web. 25 Mar 2019.

Vancouver:

Gupta A. Dynamic sequential decision problems with asymmetric information: some existence results. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2014. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/50522.

Council of Science Editors:

Gupta A. Dynamic sequential decision problems with asymmetric information: some existence results. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/50522

University of Illinois – Urbana-Champaign

5. Mishra, Anshuman. Team decision theory of switched static and dynamic systems.

Degree: PhD, 0133, 2014, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/50711

► This dissertation considers the decentralized control of switched linear systems with parameter dependent cost and system matrices. This problem class is investigated under a number… (more)

▼ This dissertation considers the decentralized control of switched linear systems with parameter dependent cost and system matrices. This problem class is investigated under a number of different formulations of player information structure, performance criteria and switching architecture. Such decentralized switched systems can be encountered in various applications like network control, control in a changing environment, economic theory, power systems, decision making in organizations, resource allocation. The thesis is roughly divided into three parts. The first part of the thesis focuses on the static quadratic team problem, where players observe partial observations of an underlying random state and generate actions with the objective of minimizing the expected value of a common quadratic cost function in the player actions. One of the motivations behind studying this problem is to solve a static stochastic-parameter problem useful in solving dynamic switched control problems encountered later. The problem however is studied in full generality and an operator theoretic framework is presented to analyze the same. We prove that a scheme where strategies are updated by sequentially applying the best responses of players, converges to the team optimal strategy. Such an update scheme provides a mechanism to numerically compute arbitrarily close approximations of the team optimal strategy. It also acts as a tool for validating structure of the team optimal strategy which can be beneficial in some cases for analytical computation of these strategies. The second part of the thesis considers dynamic switched optimal control problems with quadratic cost and players having local parameter knowledge. One of these problems is studied under full state feedback and i.i.d. parameter; the remaining two problems are output feedback, distinguished by the type of information structure: partially nested and one-step delayed sharing. For the former output feedback problem, parameters and measurements follow a partially nested structure with the parameters possibly being correlated across all stages. For the latter case, parameters are assumed to be Markov processes, with their values along with measurements available instantaneously to local controllers, but with a one time step delay to others. The solution to all these problems rely on the optimal solution to a static (one-stage) stochastic-parameter problem with local parameter dependent Gaussian measurements, and for this purpose the static quadratic team problem, examined in first part is used. The strategies obtained in all these dynamic problems are affine in the measurements with the parameter dependent coefficients obtained by solving a set of linear equations. These equations are immediately solvable when the total number of parameter values is finite. However, for the case of infinite parameter values, the update scheme examined in the first section also provides a mechanism to determine an approximation to the team optimal strategy. In the final part of the thesis,… Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Dullerud%2C%20Geir%20E.%22%29&pagesize-30">Dullerud, Geir E. (advisor), Champaign%22%20%2Bcontributor%3A%28%22Dullerud%2C%20Geir%20E.%22%29&pagesize-30">Dullerud, Geir E. (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (committee member), Champaign%22%20%2Bcontributor%3A%28%22Srikant%2C%20Rayadurgam%22%29&pagesize-30">Srikant, Rayadurgam (committee member), Champaign%22%20%2Bcontributor%3A%28%22Mehta%2C%20Prashant%20G.%22%29&pagesize-30">Mehta, Prashant G. (committee member).

Subjects/Keywords: Team decision theory; Decentralized control; Switched control; Nested systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mishra, A. (2014). Team decision theory of switched static and dynamic systems. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/50711

Chicago Manual of Style (16^th Edition):

Mishra, Anshuman. “Team decision theory of switched static and dynamic systems.” 2014. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/50711.

MLA Handbook (7^th Edition):

Mishra, Anshuman. “Team decision theory of switched static and dynamic systems.” 2014. Web. 25 Mar 2019.

Vancouver:

Mishra A. Team decision theory of switched static and dynamic systems. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2014. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/50711.

Council of Science Editors:

Mishra A. Team decision theory of switched static and dynamic systems. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/50711

University of Illinois – Urbana-Champaign

6. Kim, Kwang Ki. Model-based robust and stochastic control, and statistical inference for uncertain dynamical systems.

Degree: PhD, 4048, 2013, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/44491

► This thesis develops various methods for the robust and stochastic model-based control of uncertain dynamical systems. Several different types of uncertainties are considered, as well… (more)

▼ This thesis develops various methods for the robust and stochastic model-based control of uncertain dynamical systems. Several different types of uncertainties are considered, as well as different mathematical formalisms for quantification of the effects of uncertainties in dynamical systems. For deterministic uncertain models and robust control, uncertainties are described as sets of unknowns and every element from a set is presumed to be realizable. Stability and performance characteristics and controlled system behaviors are required to be satisfied for any element in the set of uncertain models. This thesis extends and expands robust control theory to tackle control problems for specific classes of structured uncertain linear and nonlinear systems that include cone-invariant systems, descriptor systems, and Wiener systems. The resultant analysis and control methods are proposed in terms of conic programming that includes linear programming and semidefinite programming (SDP). For stochastic uncertain models and stochastic control, uncertainties are described in terms of probability distribution functions. Stability and performance characteristics and controlled system behaviors are required to be satisfied with a desired probabilistic confidence. This thesis develops analysis and control schemes based on a spectral methods known as generalized polynomial chaos that can be used to approximate the propagation of uncertainties through dynamical systems. The proposed analysis and design methods are shown to be computationally efficient and accurate alternatives to sampling-based methods, especially when the methods are incorporated into model-based real-time control such as model predictive control. In addition to accounting for uncertainties and disturbances, the occurrence of a system component fault or failure can significantly degrade the ability of the control system to satisfy the desired stability and performance criteria. This thesis presents an application of the robust control formalism to passively ensure the reliability of a closed-loop system. For an active and intelligent control under presumed fault scenarios, this thesis considers Bayesian inference and information theory that are suited for real-time model checking and selection. To maximize the performance of statistical inference decision-making in the presence of stochastic uncertainties, design methods for optimal probing input signals are proposed in terms of the solutions of mathematical programs. Due to excitation nature of probing inputs, the resultant mathematical programs are nonconvex and a sequential SDP and convex relaxation methods are proposed to cope with such computational challenges. For real-time model checking and selection of complex distributed systems, this thesis develops methods of distributed hypothesis testing that are based on belief propagation and optimization in graphical models. The proposed methods are scalable and guarantee a consensus of distributed statistical inference decision-making. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Braatz%2C%20Richard%20D.%22%29&pagesize-30">Braatz, Richard D. (advisor), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Braatz%2C%20Richard%20D.%22%29&pagesize-30">Braatz, Richard D. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Voulgaris%2C%20Petros%20G.%22%29&pagesize-30">Voulgaris, Petros G. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Dullerud%2C%20Geir%20E.%22%29&pagesize-30">Dullerud, Geir E. (committee member).

Subjects/Keywords: Robust control; Stochastic control; Uncertain Systems; Optimization; Statistical inference; Model-based control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kim, K. K. (2013). Model-based robust and stochastic control, and statistical inference for uncertain dynamical systems. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/44491

Chicago Manual of Style (16^th Edition):

Kim, Kwang Ki. “Model-based robust and stochastic control, and statistical inference for uncertain dynamical systems.” 2013. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/44491.

MLA Handbook (7^th Edition):

Kim, Kwang Ki. “Model-based robust and stochastic control, and statistical inference for uncertain dynamical systems.” 2013. Web. 25 Mar 2019.

Vancouver:

Kim KK. Model-based robust and stochastic control, and statistical inference for uncertain dynamical systems. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2013. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/44491.

Council of Science Editors:

Kim KK. Model-based robust and stochastic control, and statistical inference for uncertain dynamical systems. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2013. Available from: http://hdl.handle.net/2142/44491

University of Illinois – Urbana-Champaign

7. Campbell, Scot E. Multi-scale path planning for reduced environmental impact of aviation.

Degree: PhD, 4048, 2010, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/16034

► A future air traffic management system capable of rerouting aircraft trajectories in real-time in response to transient and evolving events would result in increased aircraft… (more)

▼ A future air traffic management system capable of rerouting aircraft trajectories in real-time in response to transient and evolving events would result in increased aircraft efficiency, better utilization of the airspace, and decreased environmental impact. Mixed-integer linear programming (MILP) is used within a receding horizon framework to form aircraft trajectories which mitigate persistent contrail formation, avoid areas of convective weather, and seek a minimum fuel solution. Areas conducive to persistent contrail formation and areas of convective weather occur at disparate temporal and spatial scales, and thereby require the receding horizon controller to be adaptable to multi-scale events. In response, a novel adaptable receding horizon controller was developed to account for multi-scale disturbances, as well as generate trajectories using both a penalty function approach for obstacle penetration and hard obstacle avoidance constraints. A realistic aircraft fuel burn model based on aircraft data and engine performance simulations is used to form the cost function in the MILP optimization. The performance of the receding horizon algorithm is tested through simulation. A scalability analysis of the algorithm is conducted to ensure the tractability of the path planner. The adaptable receding horizon algorithm is shown to successfully negotiate multi-scale environments with performance exceeding static receding horizon solutions. The path planner is applied to realistic scenarios involving real atmospheric data. A single flight example for persistent contrail mitigation shows that fuel burn increases 1.48% when approximately 50% of persistent contrails are avoided, but 6.19% when 100% of persistent contrails are avoided. Persistent contrail mitigating trajectories are generated for multiple days of data, and the research shows that 58% of persistent contrails are avoided with a 0.48% increase in fuel consumption when averaged over a year. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Bragg%2C%20Michael%20B.%22%29&pagesize-30">Bragg, Michael B. (advisor), Champaign%22%20%2Bcontributor%3A%28%22Bragg%2C%20Michael%20B.%22%29&pagesize-30">Bragg, Michael B. (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Neogi%2C%20Natasha%20A.%22%29&pagesize-30">Neogi, Natasha A. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Wuebbles%2C%20Donald%20J.%22%29&pagesize-30">Wuebbles, Donald J. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Coverstone%2C%20Victoria%20L.%22%29&pagesize-30">Coverstone, Victoria L. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (committee member).

Subjects/Keywords: contrail; aviation; environment; path planning; Mixed-integer linear programming (MILP); optimization; trajectory; air traffic management

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Campbell, S. E. (2010). Multi-scale path planning for reduced environmental impact of aviation. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/16034

Chicago Manual of Style (16^th Edition):

Campbell, Scot E. “Multi-scale path planning for reduced environmental impact of aviation.” 2010. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/16034.

MLA Handbook (7^th Edition):

Campbell, Scot E. “Multi-scale path planning for reduced environmental impact of aviation.” 2010. Web. 25 Mar 2019.

Vancouver:

Campbell SE. Multi-scale path planning for reduced environmental impact of aviation. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2010. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/16034.

Council of Science Editors:

Campbell SE. Multi-scale path planning for reduced environmental impact of aviation. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2010. Available from: http://hdl.handle.net/2142/16034

8. Guers, Robin. On informational nudging and control of payoff-based learning.

Degree: MS, 4048, 2013, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/45433

► This thesis investigates a model of informational nudging. It focuses on a situation where a decision maker faces a set of alternatives. Each alternative brings… (more)

▼ This thesis investigates a model of informational nudging. It focuses on a situation where a decision maker faces a set of alternatives. Each alternative brings a certain stochastic reward/payoff to the decision maker. The decision maker/user repeatedly chooses from the set of alternatives so as to maximize the reward she obtains. The user remembers her past experiments and builds an estimate of the reward of each alternative to make her future decision. The reward estimate is built with the assumption that the user averages the reward of the alternative she just chose with her past reward estimate, using a non summable, square summable sequence of averaging factors, while leaving the estimate of the alternative she did not choose unchanged. The decision process is repeated over an infinite time horizon and the relative importance she gives to new experiment compared to her past experiment decreases as time goes on. This is a key assumption to study the asymptotic behavior of the process, since we use stochastic averaging techniques. At each step of the process the user chooses the alternative using her payoff estimate and a logit rule. With this model the user can only gather information about one alternative at each step of the process, hence the estimate of a rarely chosen alternative is not often updated. Therefore we introduce a recommender who provides information about the unchosen alternatives at every step, making it possible for the user to update the payoff estimate of all alternatives at every step of the process. This modifies the payoff estimate, modifies the subsequent choice of the users, i.e. the whole decision process. We are particularly interested in studying the situation where the recommender provides incorrect or misleading information to influence the decision maker behavior, as a way to achieve more desirable equilibria. Building on the theory of stochastic averaging, control strategies are derived to enforce a desired equilibrium. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (advisor).

Subjects/Keywords: Stochastic Averaging; Payoff Learning; Nonlinear Systems

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APA (6^th Edition):

Guers, R. (2013). On informational nudging and control of payoff-based learning. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/45433

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Guers, Robin. “On informational nudging and control of payoff-based learning.” 2013. Thesis, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/45433.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Guers, Robin. “On informational nudging and control of payoff-based learning.” 2013. Web. 25 Mar 2019.

Vancouver:

Guers R. On informational nudging and control of payoff-based learning. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2013. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/45433.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Guers R. On informational nudging and control of payoff-based learning. [Thesis]. University of Illinois – Urbana-Champaign; 2013. Available from: http://hdl.handle.net/2142/45433

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

9. Jadhav, Ashwin. Modeling of ground operations using end-around (perimeter) taxiways for the modernized Chicago O'Hare International Airport.

Degree: MS, 4048, 2013, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/44210

► By 2031, U.S. air carriers are projected to transport 1.3 billion passengers within the U.S. National Airspace System, with system capacity projected to increase an… (more)

Subjects/Keywords: End-Around Taxiways (EATs); Perimeter Taxiways; O'Hare International Airport (ORD); Ground Operations; O'Hare Modernization Program (OMP); National Airspace System (NAS); Next Gen; Traffic Simulation; Rockwell's Arena

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APA (6^th Edition):

Jadhav, A. (2013). Modeling of ground operations using end-around (perimeter) taxiways for the modernized Chicago O'Hare International Airport. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/44210

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Jadhav, Ashwin. “Modeling of ground operations using end-around (perimeter) taxiways for the modernized Chicago O'Hare International Airport.” 2013. Thesis, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/44210.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Jadhav, Ashwin. “Modeling of ground operations using end-around (perimeter) taxiways for the modernized Chicago O'Hare International Airport.” 2013. Web. 25 Mar 2019.

Vancouver:

Jadhav A. Modeling of ground operations using end-around (perimeter) taxiways for the modernized Chicago O'Hare International Airport. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2013. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/44210.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Jadhav A. Modeling of ground operations using end-around (perimeter) taxiways for the modernized Chicago O'Hare International Airport. [Thesis]. University of Illinois – Urbana-Champaign; 2013. Available from: http://hdl.handle.net/2142/44210

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

10. Gupta, Abhishek. Control in the presence of an intelligent jammer with limited actions.

Degree: MS, 4048, 2011, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/24013

► In this thesis, we consider three different problems related to control using communication channel as a medium to transfer control signal in a networked control… (more)

▼ In this thesis, we consider three different problems related to control using communication channel as a medium to transfer control signal in a networked control system. In particular, we are interested in control in the presence of an intelligent and strategic jammer who is maliciously altering the control signal or observation signal in the communication network connecting the controller and the plant. The first formulation considers a dynamic zero-sum game between a controller and a jammer for two different scenarios. The first player acts as a controller for a discrete time LTI plant, while the second player acts to jam the communication between the controller and the plant. The number of jamming actions is limited, which captures the energy constraint of the jammer. In the first scenario, the state of the plant is unconstrained, while in the second scenario, the state of the plant is constrained by a threshold at all time steps, and both the jammer and the controller try to maintain the state of the plant below that threshold. We determine saddle-point equilibrium control and jamming strategies for these two games under the full state, total recall information structure for both players, and show that the jammer acts according to a threshold-based policy at each decision step. Various properties of the threshold functions are derived and complemented by numerical simulation studies. The next problem considers a model of stealthy attack on a networked control system by formulating a static zero-sum game among four players. The three players constitute a team of encoder, decoder and controller for a scalar discrete time linear plant, while the fourth player acts to flip the bits of the binary encoded observation signal of the communication channel between the plant and the controller. We are interested in characterizing the possible encoding/decoding/control defense strategies available to the controller and for simplicity, we model it for a scalar discrete time system with only one time step. We further assume that the communication channel has finite bandwidth, and that the observation and control signals have finite codelengths. We determine the saddle-point equilibrium control and jamming strategies for this game when the controller's strategy space is restricted to quantization-based policies, and show that the resulting performance compares favorably to universal lower bounds obtained from rate-distortion theory. We also provide a necessary and sufficient condition on the minimum number of bits that are required to drive the cost to zero for this one step control problem in the presence of a jammer. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (advisor), Champaign%22%20%2Bcontributor%3A%28%22Basar%2C%20Tamer%22%29&pagesize-30">Basar, Tamer (advisor).

Subjects/Keywords: Game Theory; Control over Communication channel; Cyberphysical systems; Security in Control systems

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APA (6^th Edition):

Gupta, A. (2011). Control in the presence of an intelligent jammer with limited actions. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/24013

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Gupta, Abhishek. “Control in the presence of an intelligent jammer with limited actions.” 2011. Thesis, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/24013.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Gupta, Abhishek. “Control in the presence of an intelligent jammer with limited actions.” 2011. Web. 25 Mar 2019.

Vancouver:

Gupta A. Control in the presence of an intelligent jammer with limited actions. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2011. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/24013.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Gupta A. Control in the presence of an intelligent jammer with limited actions. [Thesis]. University of Illinois – Urbana-Champaign; 2011. Available from: http://hdl.handle.net/2142/24013

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

11. Ortiz Rubiano, Andres. On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator.

Degree: PhD, 4048, 2012, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/34436

► The problem of a single human operator monitoring multiple UAVs in reconnaissance missions is addressed in this work. In such missions, the operator inspects and… (more)

▼ The problem of a single human operator monitoring multiple UAVs in reconnaissance missions is addressed in this work. In such missions, the operator inspects and classifies targets as they appear on video feeds from the various UAVs. In parallel, the aircraft autonomously execute a flight plan and transmit real-time video of an unknown terrain. The main contribution of this work is the development of a system that autonomously schedules the display of video feeds such that the human operator is able to inspect each target in real time (i.e., no video data is recorded and queued for later inspection). The construction of this non-overlapping schedule is made possible by commanding changes to the flight plan of the UAVs. These changes are constructed such that the impact on the mission time is minimized. The development of this system is addressed in the context of both fixed and arbitrary target inspection times. Under the assumption that the inspection time is constant, a Linear Program (LP) formulation is used to optimally solve the display scheduling problem in the time domain. The LP solution is implemented in the space domain via velocity and trajectory modifications to the flight plan of the UAVs. An online algorithm is proposed to resolve scheduling conflicts between multiple video feeds as targets are discovered by the UAVs. Properties of this algorithm are studied to develop conflict resolution strategies that ensure correctness regardless of the target placement. The effect of such strategies on the mission time is evaluated via numerical simulations. In the context of arbitrary inspection time, the human operator indicates the end of target inspection in real time. A set of maneuvers is devised that enable the operator to inspect each target uninterruptedly and indefinitely. In addition, a cuing mechanism is proposed to increase the situational awareness of the operator and potentially reduce the inspection times. The benefits of operator cuing on mission time are evaluated through a numerical study using various levels of simulated human response. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (advisor), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Voulgaris%2C%20Petros%20G.%22%29&pagesize-30">Voulgaris, Petros G. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Kirlik%2C%20Alex%22%29&pagesize-30">Kirlik, Alex (committee member), Champaign%22%20%2Bcontributor%3A%28%22Frazzoli%2C%20Emilio%22%29&pagesize-30">Frazzoli, Emilio (committee member).

Subjects/Keywords: human machine interfaces; unmanned aircraft; optimization; trajectory planning; linear programming; task scheduling

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ortiz Rubiano, A. (2012). On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/34436

Chicago Manual of Style (16^th Edition):

Ortiz Rubiano, Andres. “On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator.” 2012. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/34436.

MLA Handbook (7^th Edition):

Ortiz Rubiano, Andres. “On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator.” 2012. Web. 25 Mar 2019.

Vancouver:

Ortiz Rubiano A. On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2012. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/34436.

Council of Science Editors:

Ortiz Rubiano A. On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2012. Available from: http://hdl.handle.net/2142/34436

12. Arneson, Heather. Control design techniques for constrained positive compartmental systems with applications to air traffic flow management.

Degree: PhD, 4048, 2012, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/30982

► The current air traffic management system has been pushed to its limit and will not be able to keep up with the predicted increase in… (more)

▼ The current air traffic management system has been pushed to its limit and will not be able to keep up with the predicted increase in air traffic over the coming years. Recent research in air traffic management is concerned with increasing the capacity and throughput of the National Airspace System in order to accommodate this growing demand. Many approaches presented in the literature are systematic and performance based. In the work presented here, two particular problems are addressed: delay scheduling in the presence of uncertain flow rate constraints, and traffic flow routing under time varying airspace capacity constraints. Aggregate models are used to describe the flow of traffic in the region of airspace of interest. The solution methods presented are based on sliding mode control theory and linear programming theory. Contributions of this work are methods which: (a) react in real time to changing flow rate constraints, and (b) use routing parameters to satisfy time varying capacity constraints for linear, uncertain linear, and nonlinear models describing the flow of traffic through the region of interest. Unlike most methods described in the literature, solution method (a) does not make use of a constraint forecast. Simulation results show a reduction of flow rate constraint violation over the baseline schedule. Routing control is rarely used in the literature. The proposed approach (b) makes use of routing parameters as the primary control input. Linear constraints are derived to find time varying routing parameters which satisfy time varying capacity constraints. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (advisor), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Voulgaris%2C%20Petros%20G.%22%29&pagesize-30">Voulgaris, Petros G. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Hovakimyan%2C%20Naira%22%29&pagesize-30">Hovakimyan, Naira (committee member), Champaign%22%20%2Bcontributor%3A%28%22Balakrishnan%2C%20Hamsa%22%29&pagesize-30">Balakrishnan, Hamsa (committee member).

Subjects/Keywords: linear programming; control of networks; positive systems; controller constraints and structure; air traffic flow management

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Arneson, H. (2012). Control design techniques for constrained positive compartmental systems with applications to air traffic flow management. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/30982

Chicago Manual of Style (16^th Edition):

Arneson, Heather. “Control design techniques for constrained positive compartmental systems with applications to air traffic flow management.” 2012. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/30982.

MLA Handbook (7^th Edition):

Arneson, Heather. “Control design techniques for constrained positive compartmental systems with applications to air traffic flow management.” 2012. Web. 25 Mar 2019.

Vancouver:

Arneson H. Control design techniques for constrained positive compartmental systems with applications to air traffic flow management. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2012. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/30982.

Council of Science Editors:

Arneson H. Control design techniques for constrained positive compartmental systems with applications to air traffic flow management. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2012. Available from: http://hdl.handle.net/2142/30982

13. Mehdi, Syed Bilal. Collision avoidance for multi-vehicle cooperative missions.

Degree: PhD, Mechanical Engineering, 2017, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/98384

► This thesis focuses on collision avoidance for multi-vehicle coordinated missions. Building upon an existing cooperative control framework, we propose collision-avoidance methods that rely on practicably… (more)

▼ This thesis focuses on collision avoidance for multi-vehicle coordinated missions. Building upon an existing cooperative control framework, we propose collision-avoidance methods that rely on practicably available obstacle information and allow safe operation without compromising on the mission objectives. Several applications of multi-vehicle coordinated missions require the vehicles to satisfy relative temporal constraints, such as maintaining formation throughout the mission or reaching their respective destinations at the same time. With such applications in focus, two different methodologies for collision avoidance are explored. We first consider a speed-adjustment based approach that can be used to avoid moving obstacles. Using obstacle information which may be available in real world applications such as air traffic management and highway driving, the proposed algorithm allows collision avoidance without requiring any vehicle to deviate from its path or lose coordination with other vehicles. Next, trajectory replanning approach for obstacle avoidance is considered. Applicable to both static and moving obstacles, this method may require the vehicle to steer away from its originally intended path. The deviations in position, velocity and acceleration caused by the avoidance maneuver, however, are small and respect bounds that can be computed offline. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and inter-vehicle safety distance even during collision avoidance maneuver. Through novel use of Bézier curves and surfaces for representing uncertain trajectories, these algorithms make use of partial information on obstacle trajectory and are computationally efficient. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Hovakimyan%2C%20Naira%22%29&pagesize-30">Hovakimyan, Naira (advisor), Champaign%22%20%2Bcontributor%3A%28%22Hovakimyan%2C%20Naira%22%29&pagesize-30">Hovakimyan, Naira (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Salapaka%2C%20Srinivasa%22%29&pagesize-30">Salapaka, Srinivasa (committee member), Champaign%22%20%2Bcontributor%3A%28%22Stipanovic%2C%20Dusan%20M%22%29&pagesize-30">Stipanovic, Dusan M (committee member), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (committee member).

Subjects/Keywords: Collision avoidanace; Multi-vehicle missions; Cooperative missions; Bézier curves; Bézier surfaces; Speed adjustment

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APA (6^th Edition):

Mehdi, S. B. (2017). Collision avoidance for multi-vehicle cooperative missions. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/98384

Chicago Manual of Style (16^th Edition):

Mehdi, Syed Bilal. “Collision avoidance for multi-vehicle cooperative missions.” 2017. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/98384.

MLA Handbook (7^th Edition):

Mehdi, Syed Bilal. “Collision avoidance for multi-vehicle cooperative missions.” 2017. Web. 25 Mar 2019.

Vancouver:

Mehdi SB. Collision avoidance for multi-vehicle cooperative missions. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2017. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/98384.

Council of Science Editors:

Mehdi SB. Collision avoidance for multi-vehicle cooperative missions. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2017. Available from: http://hdl.handle.net/2142/98384

14. Johnson, Miles. Inverse optimal control for deterministic continuous-time nonlinear systems.

Degree: PhD, 4048, 2014, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/46747

► Inverse optimal control is the problem of computing a cost function with respect to which observed state input trajectories are optimal. We present a new… (more)

▼ Inverse optimal control is the problem of computing a cost function with respect to which observed state input trajectories are optimal. We present a new method of inverse optimal control based on minimizing the extent to which observed trajectories violate first-order necessary conditions for optimality. We consider continuous-time deterministic optimal control systems with a cost function that is a linear combination of known basis functions. We compare our approach with three prior methods of inverse optimal control. We demonstrate the performance of these methods by performing simulation experiments using a collection of nominal system models. We compare the robustness of these methods by analyzing how they perform under perturbations to the system. We consider two scenarios: one in which we exactly know the set of basis functions in the cost function, and another in which the true cost function contains an unknown perturbation. Results from simulation experiments show that our new method is computationally efficient relative to prior methods, performs similarly to prior approaches under large perturbations to the system, and better learns the true cost function under small perturbations. We then apply our method to three problems of interest in robotics. First, we apply inverse optimal control to learn the physical properties of an elastic rod. Second, we apply inverse optimal control to learn models of human walking paths. These models of human locomotion enable automation of mobile robots moving in a shared space with humans, and enable motion prediction of walking humans given partial trajectory observations. Finally, we apply inverse optimal control to develop a new method of learning from demonstration for quadrotor dynamic maneuvering. We compare and contrast our method with an existing state-of-the-art solution based on minimum-time optimal control, and show that our method can generalize to novel tasks and reject environmental disturbances. Advisors/Committee Members: Champaign%22%20%2Bcontributor%3A%28%22Bretl%2C%20Timothy%20W.%22%29&pagesize-30">Bretl, Timothy W. (advisor), Champaign%22%20%2Bcontributor%3A%28%22Bretl%2C%20Timothy%20W.%22%29&pagesize-30">Bretl, Timothy W. (Committee Chair), Champaign%22%20%2Bcontributor%3A%28%22Conway%2C%20Bruce%20A.%22%29&pagesize-30">Conway, Bruce A. (committee member), Champaign%22%20%2Bcontributor%3A%28%22Langbort%2C%20Cedric%22%29&pagesize-30">Langbort, Cedric (committee member), Champaign%22%20%2Bcontributor%3A%28%22Hutchinson%2C%20Seth%20A.%22%29&pagesize-30">Hutchinson, Seth A. (committee member).

Subjects/Keywords: optimal control; inverse reinforcement learning; inverse optimal control; apprenticeship learning; Learning from demonstration; iterative learning control

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APA (6^th Edition):

Johnson, M. (2014). Inverse optimal control for deterministic continuous-time nonlinear systems. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/46747

Chicago Manual of Style (16^th Edition):

Johnson, Miles. “Inverse optimal control for deterministic continuous-time nonlinear systems.” 2014. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 25, 2019. http://hdl.handle.net/2142/46747.

MLA Handbook (7^th Edition):

Johnson, Miles. “Inverse optimal control for deterministic continuous-time nonlinear systems.” 2014. Web. 25 Mar 2019.

Vancouver:

Johnson M. Inverse optimal control for deterministic continuous-time nonlinear systems. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2014. [cited 2019 Mar 25]. Available from: http://hdl.handle.net/2142/46747.

Council of Science Editors:

Johnson M. Inverse optimal control for deterministic continuous-time nonlinear systems. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/46747

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Open Access Theses and Dissertations