You searched for subject:(Hybrid adaptive control).
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Rochester Institute of Technology
1.
Snyder, Steven.
Robust adaptive control for a hybrid solid oxide fuel cell system.
Degree: Mechanical Engineering, 2011, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/5813 
► Solid oxide fuel cells (SOFCs) are electrochemical energy conversion devices. They offer a number of advantages beyond those of most other fuel cells due to…
(more)
▼ Solid oxide fuel cells (SOFCs) are electrochemical energy conversion devices. They offer a number of advantages beyond those of most other fuel cells due to their high operating temperature (800-1000 ° C), such as internal reforming, heat as a byproduct, and faster reaction kinetics without precious metal catalysts. Mitigating fuel starvation and improving load-following capabilities of SOFC systems are conflicting
control objectives. However, this can be resolved by the hybridization of the system with an energy storage device, such as an ultra-capacitor. In this thesis, a steady-state property of the SOFC is combined with an input-shaping method in order to address the issue of fuel starvation. Simultaneously, an overall
adaptive system
control strategy is employed to manage the energy sharing between the elements as well as to maintain state-of-charge of the energy storage device. The
adaptive control method is robust to errors in the fuel cell's fuel supply system and guarantees that the fuel cell current and ultra-capacitor state-of-charge approach their target values and remain uniformly, ultimately bounded about these target values. Parameter saturation is employed to guarantee boundedness of the parameters. The controller is validated through hardware-in-the-loop experiments as well as computer simulations.
Advisors/Committee Members: Das, Tuhin.
Subjects/Keywords: Adaptive control; Fuel cell; Hybrid energy; SOFC
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APA (6th Edition):
Snyder, S. (2011). Robust adaptive control for a hybrid solid oxide fuel cell system. (Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/5813
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Snyder, Steven. “Robust adaptive control for a hybrid solid oxide fuel cell system.” 2011. Thesis, Rochester Institute of Technology. Accessed April 18, 2021.
https://scholarworks.rit.edu/theses/5813.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Snyder, Steven. “Robust adaptive control for a hybrid solid oxide fuel cell system.” 2011. Web. 18 Apr 2021.
Vancouver:
Snyder S. Robust adaptive control for a hybrid solid oxide fuel cell system. [Internet] [Thesis]. Rochester Institute of Technology; 2011. [cited 2021 Apr 18].
Available from: https://scholarworks.rit.edu/theses/5813.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Snyder S. Robust adaptive control for a hybrid solid oxide fuel cell system. [Thesis]. Rochester Institute of Technology; 2011. Available from: https://scholarworks.rit.edu/theses/5813
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Drexel University
2.
Peterson, Eric Dean.
Multiple Model Adaptive Regulation.
Degree: 2014, Drexel University
URL: http://hdl.handle.net/1860/idea:6099
► A single controller may be inadequate for systems that experience structural changes that arise, for example, from component failures. Such systems are often modeled by…
(more)
▼ A single controller may be inadequate for systems that experience structural changes that arise, for example, from component failures. Such systems are often modeled by a family of plants with structural diversity. At any given time the appropriate plant model is uncertain. Adaptation is required for the parameter dependent family of plants but continuous adaptive regulation is limited by relative degree and right half plane zeros. A form of adaptive regulation is presented that accommodates these changes.
The Multiple Model Adaptive Regulator selects a controller from a predefined set to achieve performance goals. In general, the set of controllers is finite although the family of plants may be continuous. The set of controllers accommodates a structurally diverse family of plants. A multiple model controller design has two subproblems, covering and switching. The covering subproblem is to design a small set of controllers such that each possible plant is stabilized by at least one controller. The switching subproblem is to select a stabilizing controller from the set of controllers. In this research, the covering and switching subproblems are solved with LQR state feedback and Lyapunov function switch logic respectively. The LQR and Common Quadratic Lyapunov Function design problems are combined into a set of Linear Matrix Inequalities (LMI) and concurrently solved. Design constraints on the open loop plant and the regulator are presented. The multiple model adaptive regulator is applied to systems with diverse zero structure.
Ph.D., Mechanical Engineering – Drexel University, 2014
Advisors/Committee Members: Kwatny, Harry G..
Subjects/Keywords: Mechanical engineering; Adaptive control systems; Hybrid systems
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APA (6th Edition):
Peterson, E. D. (2014). Multiple Model Adaptive Regulation. (Thesis). Drexel University. Retrieved from http://hdl.handle.net/1860/idea:6099
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Peterson, Eric Dean. “Multiple Model Adaptive Regulation.” 2014. Thesis, Drexel University. Accessed April 18, 2021.
http://hdl.handle.net/1860/idea:6099.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Peterson, Eric Dean. “Multiple Model Adaptive Regulation.” 2014. Web. 18 Apr 2021.
Vancouver:
Peterson ED. Multiple Model Adaptive Regulation. [Internet] [Thesis]. Drexel University; 2014. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/1860/idea:6099.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Peterson ED. Multiple Model Adaptive Regulation. [Thesis]. Drexel University; 2014. Available from: http://hdl.handle.net/1860/idea:6099
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Virginia Tech
3.
Bean, Jacob Jon.
Design and Analysis of an Active Noise Canceling Headrest.
Degree: PhD, Aerospace Engineering, 2018, Virginia Tech
URL: http://hdl.handle.net/10919/94626
► This dissertation is concerned with the active control of local sound fields, as applied to an active headrest system. Using loudspeakers and microphones, an active…
(more)
▼ This dissertation is concerned with the active
control of local sound fields, as applied to an active headrest system. Using loudspeakers and microphones, an active headrest is capable of attenuating ambient noise and providing a comfortable acoustic environment for an occupant. A finite element (FE) model of an active headrest is built and analyzed such that the expected noise reduction levels could be quantified for various geometries as well as primary sound field conditions. Both plane wave and diffuse primary sound fields are considered and it is shown that the performance deteriorates for diffuse sound fields. It is then demonstrated that virtual sensing can greatly improve the spatial extent of the quiet zones as well as the attenuation levels. A prototype of the active headrest was constructed, with characteristics similar to those of the FE model, and tested in both anechoic and reverberant sound fields. Multichannel feedforward and feedback
control architectures are implemented in real-time and it is shown that
adaptive feedback systems are capable of attenuating band-limited disturbances. The spatial attenuation pattern surrounding the head is also measured by shifting the head to various positions and measuring the attenuation at the ears. Two virtual sensing techniques are compared in both feedback and feedforward architectures. The virtual microphone arrangement, which assumes that the primary sound field is equivalent at the physical and virtual locations, results in the best performance when used in a feedback system attenuating broadband disturbances. The remote microphone technique, which accounts for the transfer response between the physical and virtual locations, offers the best performance for tonal primary sound fields. In broadband sound fields, a causal relationship rarely exists between the physical and virtual microphones, resulting in poor performance.
Advisors/Committee Members: Woolsey, Craig A. (committeechair), Fuller, Christopher R. (committeechair), Schiller, Noah Harrison (committee member), Philen, Michael K. (committee member), Sultan, Cornel (committee member).
Subjects/Keywords: Active headrest; active noise control; adaptive control; hybrid control; finite element modeling
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APA (6th Edition):
Bean, J. J. (2018). Design and Analysis of an Active Noise Canceling Headrest. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/94626
Chicago Manual of Style (16th Edition):
Bean, Jacob Jon. “Design and Analysis of an Active Noise Canceling Headrest.” 2018. Doctoral Dissertation, Virginia Tech. Accessed April 18, 2021.
http://hdl.handle.net/10919/94626.
MLA Handbook (7th Edition):
Bean, Jacob Jon. “Design and Analysis of an Active Noise Canceling Headrest.” 2018. Web. 18 Apr 2021.
Vancouver:
Bean JJ. Design and Analysis of an Active Noise Canceling Headrest. [Internet] [Doctoral dissertation]. Virginia Tech; 2018. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/10919/94626.
Council of Science Editors:
Bean JJ. Design and Analysis of an Active Noise Canceling Headrest. [Doctoral Dissertation]. Virginia Tech; 2018. Available from: http://hdl.handle.net/10919/94626
University of Melbourne
4.
KUTADINATA, RONNY.
Nash Equilibrium Seeking for Augmentation of Urban Traffic Light Control.
Degree: 2015, University of Melbourne
URL: http://hdl.handle.net/11343/55074
► The congestion problem in urban transportation has been becoming increasingly severe in recent years due to the growth of population and vehicle ownership. It was…
(more)
▼ The congestion problem in urban transportation has been becoming increasingly severe in recent years due to the growth of population and vehicle ownership. It was estimated that the cost of congestion is in the order of billions of dollar and is expected to keep raising. Besides increasing the average travel time which leads to loss of productivity, congestion also leads to public health, environmental and safety issues. As such, urban traffic congestion has become a major problem that needs to be urgently addressed.
Many urban traffic controllers have been developed with this goal in mind. The task of an urban traffic controller is to decide the traffic light setting, including the duration and the timing of the green lights. However, this decision is typically dependent upon some parameters of the controller. A set of poorly-tuned parameters will lead to poor performance of the controller. The problem is compounded when these parameters are determined by trial-and-error, where finding their optimal values is an arduous task, or even impossible. Thus, a systematic and practical approach to find the optimal parameters is required. This thesis provides a solution to this problem by developing a feedback controller, based on extremum-seeking theory, to continually fine-tune these parameters while the traffic network is running. The main advantage of using extremum-seeking is that no knowledge of the plant dynamics is required a priori. Since urban traffic is highly nonlinear and subject to a variety of unknowns, extremum-seeking is useful to avoid the need to model the dynamics of traffic.
This thesis outlines several extensions to extremum-seeking theory to address new areas of application and demonstrate its benefit in a real-world problem. In particular, these extensions accommodate the application of extremum-seeking for urban traffic control. There are several issues posed by the considered extensions that are addressed in this thesis. Firstly, the number of parameters that needs to be selected increases proportionally with the size of the traffic network. Thus, a decentralisation of the extremum-seeking scheme is developed (more commonly referred to as Nash equilibrium seeking), which relaxes the requirement of the classical extremum-seeking result. This is done by exploiting the fact that a change in the setting of a traffic light will have a diminishing effect with distance. By doing this, the implementation of the Nash equilibrium seeker is simplified, in particular when dealing with large-scale systems. This concept is generalised, and a non-local stability result is developed for the Nash equilibrium seeking scheme acting on a family of systems with continuous nonlinear dynamics. The stability proof relies upon singular perturbation and averaging theories.
Secondly, an urban traffic network is naturally a hybrid system and there has been no extremum-seeking result for hybrid systems. Thus, a novel stability result for a class of singularly perturbed hybrid systems is presented. This is an extension…
Subjects/Keywords: dynamics and control; adaptive system; nonlinear control; hybrid systems; traffic control; intelligent transportation system
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APA (6th Edition):
KUTADINATA, R. (2015). Nash Equilibrium Seeking for Augmentation of Urban Traffic Light Control. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/55074
Chicago Manual of Style (16th Edition):
KUTADINATA, RONNY. “Nash Equilibrium Seeking for Augmentation of Urban Traffic Light Control.” 2015. Doctoral Dissertation, University of Melbourne. Accessed April 18, 2021.
http://hdl.handle.net/11343/55074.
MLA Handbook (7th Edition):
KUTADINATA, RONNY. “Nash Equilibrium Seeking for Augmentation of Urban Traffic Light Control.” 2015. Web. 18 Apr 2021.
Vancouver:
KUTADINATA R. Nash Equilibrium Seeking for Augmentation of Urban Traffic Light Control. [Internet] [Doctoral dissertation]. University of Melbourne; 2015. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/11343/55074.
Council of Science Editors:
KUTADINATA R. Nash Equilibrium Seeking for Augmentation of Urban Traffic Light Control. [Doctoral Dissertation]. University of Melbourne; 2015. Available from: http://hdl.handle.net/11343/55074
Georgia Tech
5.
Azimi, Vahid.
Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments.
Degree: MS, Electrical and Computer Engineering, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/62747
► This thesis presents and experimentally implements five different robust, adaptive, and robust adaptive controllers as the first steps towards using model-based controllers for transfemoral prostheses.…
(more)
▼ This thesis presents and experimentally implements five different robust,
adaptive, and robust
adaptive controllers as the first steps towards using model-based controllers for transfemoral prostheses. The goal of this research is to translate these
control methods to the robotic domain, from bipedal robotic walking to prosthesis walking, including a rigorous stability analysis. The human/prosthesis system is first modeled as a two-domain
hybrid asymmetric system. The model upon which the controllers are based is a 5-link planar
hybrid system (both continuous and discrete behaviors) with point feet, to represent a transfemoral amputee’s body and limbs. An optimization problem is formulated to obtain a stable human-like gait. The proposed controllers are then developed for the combined human/prosthesis model and the optimized reference gait. The stability of all five controllers is proven using the Lyapunov stability theorem and Barbalat’s lemma, ensuring convergence to the desired gait. The proposed controllers are first verified on a bipedal walking robot as a
hybrid human/prosthesis model in simulation. Simulations show that the proposed controllers are capable of meeting specific performance requirements regarding trajectory tracking of the prosthetic knee, convergence to a stable periodic orbit, and robustness to force/obstacle disturbances while walking on flat ground. They are then experimentally tested on a treadmill with an able-bodied
subject using AMPRO3 (the third iteration of Advanced Mechanical Prosthesis),
a custom self-contained powered transfemoral prosthesis. Results show that all controllers provide humanlike walking and accurate tracking performance for a healthy human
subject utilizing a transfemoral prosthesis. Finally, outdoor tests are carried out using AMPRO3 with three test subjects walking on level ground, uphill slopes, and downhill slopes at slope angles of 3 and 8 degrees, to demonstrate walking in different real-world environments.
Advisors/Committee Members: Hutchinson, Seth (advisor), Simon, Dan (advisor), Abdallah, Chaouki T. (committee member), Young, Aaron (committee member).
Subjects/Keywords: Adaptive and robust control; Hybrid system; Transfemoral prosthesis; Walking biped
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APA (6th Edition):
Azimi, V. (2020). Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62747
Chicago Manual of Style (16th Edition):
Azimi, Vahid. “Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments.” 2020. Masters Thesis, Georgia Tech. Accessed April 18, 2021.
http://hdl.handle.net/1853/62747.
MLA Handbook (7th Edition):
Azimi, Vahid. “Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments.” 2020. Web. 18 Apr 2021.
Vancouver:
Azimi V. Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments. [Internet] [Masters thesis]. Georgia Tech; 2020. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/1853/62747.
Council of Science Editors:
Azimi V. Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments. [Masters Thesis]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/62747
Delft University of Technology
6.
van der Linden, M.J. (author).
Multi-Agent Source Seeking in Unknown Environments: A hybrid adaptive feedback approach for unicycles.
Degree: 2021, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:eb67d2e8-230b-49d3-a124-3fcf94938fa5
► The application of autonomous robotic vehicles to explore unknown environments is a growing field of interest in the research community. This thesis report studies the…
(more)
▼ The application of autonomous robotic vehicles to explore unknown environments is a growing field of interest in the research community. This thesis report studies the practical implementation of employing three autonomous vehicles to navigate towards a signal emitting source in an unknown environment. The group of autonomous vehicles is assigned to drive towards the source in a coordinated formation shape whilst avoiding an obstacle. Therefore, a control algorithm is developed that is required to be suitable for a non-holonomic unicycle. As an experimental platform for the algorithm, the Husarion ROSbot is used. To evaluate the performance of the algorithm, simulations are run in a Gazebo simulator environment. To achieve the stated research objective, the problem is broken down into three sub-objectives: source seeking, obstacle avoidance, and formation control. First, two types of source seeking approaches for unicycles are implemented to investigate how each approach affects the source seeking performance. Thereafter, an obstacle avoidance algorithm is developed to combine with both source seeking approaches. [19] is used as a framework to create a hybrid adaptive feedback (HAF) law to avoid an obstacle, with the location and orientation of the obstacle w.r.t. the source is not assumed to be known a priori. Subsequently, two follower vehicles are introduced to study how to enable a group of vehicles to drive in a coordinated formation to the source while avoiding an obstacle. Finally, the algorithm developed in this thesis is empirically shown in simulations not to suffer from convergence to a detrimental line M that would occur with an artificial potential function approach, as described by [24]. The follower vehicles employ a decentralized leader-follower strategy to maintain formation shape and successfully avoid an obstacle.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Krilašević, S. (mentor), Grammatico, S. (mentor), Ferranti, L. (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Non-holonomic mobile robots; Source seeking; Hybrid adaptive feedback; Formation control
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APA (6th Edition):
van der Linden, M. J. (. (2021). Multi-Agent Source Seeking in Unknown Environments: A hybrid adaptive feedback approach for unicycles. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:eb67d2e8-230b-49d3-a124-3fcf94938fa5
Chicago Manual of Style (16th Edition):
van der Linden, M J (author). “Multi-Agent Source Seeking in Unknown Environments: A hybrid adaptive feedback approach for unicycles.” 2021. Masters Thesis, Delft University of Technology. Accessed April 18, 2021.
http://resolver.tudelft.nl/uuid:eb67d2e8-230b-49d3-a124-3fcf94938fa5.
MLA Handbook (7th Edition):
van der Linden, M J (author). “Multi-Agent Source Seeking in Unknown Environments: A hybrid adaptive feedback approach for unicycles.” 2021. Web. 18 Apr 2021.
Vancouver:
van der Linden MJ(. Multi-Agent Source Seeking in Unknown Environments: A hybrid adaptive feedback approach for unicycles. [Internet] [Masters thesis]. Delft University of Technology; 2021. [cited 2021 Apr 18].
Available from: http://resolver.tudelft.nl/uuid:eb67d2e8-230b-49d3-a124-3fcf94938fa5.
Council of Science Editors:
van der Linden MJ(. Multi-Agent Source Seeking in Unknown Environments: A hybrid adaptive feedback approach for unicycles. [Masters Thesis]. Delft University of Technology; 2021. Available from: http://resolver.tudelft.nl/uuid:eb67d2e8-230b-49d3-a124-3fcf94938fa5
Texas A&M University
7.
Akkineni, Sneha.
Implementation of Simple Adaptive Control as a Hybrid Control Strategy for a Seismically Active Cable-Stayed Bridge.
Degree: MS, Civil Engineering, 2018, Texas A&M University
URL: http://hdl.handle.net/1969.1/174137
► The motion of structural systems is a major challenge faced in the field of structural engineering. Certain measures such as the application of passive, active…
(more)
▼ The motion of structural systems is a major challenge faced in the field of structural engineering. Certain measures such as the application of passive, active and semi-active
control devices as a solution to overcome the motion of seismically critical structures has been the most preferred solution in recent times in the field of earthquake engineering. The advantages offered by
control devices in terms of reliability, serviceability and reduced long-term costs has led to their popularity.
The current work presents the study of the performance of Quincy Bayview Bridge, a cable-stayed bridge located in Illinois. For a cable-stayed bridge, the deck-tower connections and abutments form the essential locations for assessment on the onset of a seismic activity. Therefore, the 3-span long continuous bridge consists of High Damping Rubber Bearing (HDRB) isolators and Magnetorheological Dampers (MR Dampers) located at the transverse and longitudinal directions to link the deck with towers and abutments. Simple
Adaptive Control (SAC) is implemented into the MR Dampers as the
control algorithm.
The primary objective is to evaluate the performance of an uncontrolled cable-stayed bridge system with a bridge system integrated with passive
hybrid (Linear Viscous Dampers and HDRB) and semi-active
hybrid control (MR Dampers and HDRB). The uncontrolled and controlled bridge is analyzed for two historic seismic excitations – the 1940 El Centro Earthquake and the 1994 Northridge Earthquake. The work also focuses on analyzing and comparing the results of the
hybrid control system to the system controlled solely by passive and semi-active devices. An additional passive strategy (passive-on and passive-off) is implemented to evaluate and compare the performance of an MR Damper with
hybrid control. Moreover, to lessen the computational efforts, a reduced finite element model is created to capture the modal behavior of the complete structure and is investigated further to capture its dynamic performance.
The response reduction with the
hybrid control strategies was found on par with the passive and semi-active devices that validates the efficiency of
hybrid control. A similar response of the MR Damper controlled with SAC and passive-on is observed as the former delivers performance with its highest capacity. The difference in peak response percentage reduction between the full and reduced model validates that the reduced model cannot be substituted for the complete model due to its inefficiency to capture the geometric and material non-linearity in addition to its complete dynamic behavior.
Advisors/Committee Members: Barroso, Luciana R (advisor), Niedzwecki, John M (committee member), Andres, Luis San (committee member).
Subjects/Keywords: Hybrid Control; MR Damper; Simple Adaptive Control; Cable-Stayed Bridge; Seismic Excitation
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APA ·
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APA (6th Edition):
Akkineni, S. (2018). Implementation of Simple Adaptive Control as a Hybrid Control Strategy for a Seismically Active Cable-Stayed Bridge. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/174137
Chicago Manual of Style (16th Edition):
Akkineni, Sneha. “Implementation of Simple Adaptive Control as a Hybrid Control Strategy for a Seismically Active Cable-Stayed Bridge.” 2018. Masters Thesis, Texas A&M University. Accessed April 18, 2021.
http://hdl.handle.net/1969.1/174137.
MLA Handbook (7th Edition):
Akkineni, Sneha. “Implementation of Simple Adaptive Control as a Hybrid Control Strategy for a Seismically Active Cable-Stayed Bridge.” 2018. Web. 18 Apr 2021.
Vancouver:
Akkineni S. Implementation of Simple Adaptive Control as a Hybrid Control Strategy for a Seismically Active Cable-Stayed Bridge. [Internet] [Masters thesis]. Texas A&M University; 2018. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/1969.1/174137.
Council of Science Editors:
Akkineni S. Implementation of Simple Adaptive Control as a Hybrid Control Strategy for a Seismically Active Cable-Stayed Bridge. [Masters Thesis]. Texas A&M University; 2018. Available from: http://hdl.handle.net/1969.1/174137
Michigan Technological University
8.
Zhou, Bin.
Hybrid Electric Vehicle Energy Management Strategy with Consideration of Battery Aging.
Degree: PhD, Department of Electrical and Computer Engineering, 2020, Michigan Technological University
URL: https://digitalcommons.mtu.edu/etdr/1140
► The equivalent consumption minimization strategy (ECMS) is a well-known energy management strategy for Hybrid Electric Vehicles (HEV). ECMS is very computationally efficient since it…
(more)
▼ The equivalent consumption minimization strategy (ECMS) is a well-known energy management strategy for
Hybrid Electric Vehicles (HEV). ECMS is very computationally efficient since it yields an instantaneous optimal
control. ECMS has been shown to minimize fuel consumption under certain conditions. But, minimizing the fuel consumption often leads to excessive battery damage. The objective of this dissertation is to develop a real-time implementable optimal energy management strategy which improves both the fuel economy and battery aging for
Hybrid Electric Vehicles by using ECMS. This work introduces a new optimal
control problem where the cost function includes terms for both fuel consumption and battery aging. The Ah-throughput method is used to quantify battery aging. ECMS (with the appropriate equivalence factor) is shown to also minimize the cost function that incorporates battery aging. Finding the appropriate equivalence factor often required prior knowledge of the entire drive cycle. While using the appropriate equivalence factor might miss the opportunities for fuel savings under certain conditions. Therefore, an
adaptive control law of equivalence factor called Catch Energy Saving Opportunity (CESO) has been introduced in this work to make the proposed aging ECMS real-time implementable.
In order to better understand the impact of the developed optimal strategies on battery aging in HEVs, systematic analysis has been performed to find relations between fuel economy, battery aging and the optimization decisions when using ECMS. Therefore, the varies equivalence factors, state of charge constraints and battery temperatures are observed and analyzed under different Combined Drive-cycles (CDs). The CDs are formulated to test the energy management strategy and battery aging with weights on city and highway drive. In addition, rule-based
control in charge-depletion mode aimed to improve battery aging has been simulated in a HEV truck. The simulation results show that, the fuel consumed and battery aging degradation during varied operation could be significantly improved by using a simple
control rule in charge-depletion mode. This further indicates the benefits of implementing a battery aging term which impacts the
control decision in charge-sustaining ECMS.
Based on the analysis results, an aging ECMS has been developed by adding a battery aging term as a cost to the battery. The simulation results showed that this optimal energy management strategy improves battery aging significantly with little or no penalty in fuel economy. In addition, aging CESO ECMS, a real-time optimal strategy, has been developed based on the proposed aging ECMS. The simulation results show that aging CESO ECMS improvs upon the basic aging ECMS performance.
Advisors/Committee Members: Jeffrey B. Burl.
Subjects/Keywords: Hybrid Electric Vehicle; Battery Aging; Adaptive ECMS; Optimization; Control Theory; Navigation, Guidance, Control, and Dynamics
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APA (6th Edition):
Zhou, B. (2020). Hybrid Electric Vehicle Energy Management Strategy with Consideration of Battery Aging. (Doctoral Dissertation). Michigan Technological University. Retrieved from https://digitalcommons.mtu.edu/etdr/1140
Chicago Manual of Style (16th Edition):
Zhou, Bin. “Hybrid Electric Vehicle Energy Management Strategy with Consideration of Battery Aging.” 2020. Doctoral Dissertation, Michigan Technological University. Accessed April 18, 2021.
https://digitalcommons.mtu.edu/etdr/1140.
MLA Handbook (7th Edition):
Zhou, Bin. “Hybrid Electric Vehicle Energy Management Strategy with Consideration of Battery Aging.” 2020. Web. 18 Apr 2021.
Vancouver:
Zhou B. Hybrid Electric Vehicle Energy Management Strategy with Consideration of Battery Aging. [Internet] [Doctoral dissertation]. Michigan Technological University; 2020. [cited 2021 Apr 18].
Available from: https://digitalcommons.mtu.edu/etdr/1140.
Council of Science Editors:
Zhou B. Hybrid Electric Vehicle Energy Management Strategy with Consideration of Battery Aging. [Doctoral Dissertation]. Michigan Technological University; 2020. Available from: https://digitalcommons.mtu.edu/etdr/1140
Delft University of Technology
9.
Jagga, Dhruv (author).
Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149
► Extensive advancements in the field of mobility and safety in transportation in last few decades have acted as a catalyst for the expansion of automobile…
(more)
▼ Extensive advancements in the field of mobility and safety in transportation in last few decades have acted as a catalyst for the expansion of automobile industry. The research for the evolution of new technologies, vehicle safety regulations and specifications and the market requirements has given this progress a greater push. The passenger cars these days are equipped with ample collection of active safety systems such as Anti-lock Braking Systems (ABS), Electronic Stability Program (ESP), Active Front Steering (AFS) and many more. The amalgamation of these active safety systems in the vehicle chassis allows the vehicle to accomplish the desired stability. Both academia and industry understood the requirement of more research in the field of vehicle industry. This leads to the comprehensive enhancement in the field of research and development with respect to integrated chassis
control (ICC). The new research delivered some remarkable advantages to this industry, such as cost reduction of the complete system, multi-objective performance growth, hardware entanglement, fault-tolerant capability and system plausibility. Despite the huge diversity in research of integrated chassis, there are certain
adaptive design methods which can be used to enhance the ICC performance. This dissertation intends to provide a methodology to fully exploit the nonlinear dynamics of the vehicle concerning the forces in between tire and road surface and to discuss the integration of AFS and ESP. It establishes a novel
adaptive control approach in order to attain asymptotic tracking for switched affine vehicle models with parameter uncertainties and disturbances acting on the model. This, therefore, will help to attain the desired performance. Further, comparisonwith strategies that merely exploits the linear region of the vehicle dynamics are discussed, and performance improvements of the proposed methodology are assessed. Finally, analytically the endurance of the prospective
control strategy is proven and simulations are conducted to validate the theoretical analysis.
Advisors/Committee Members: Baldi, Simone (mentor), van den Boom, Ton (graduation committee), Shyrokau, Barys (graduation committee), Yuan, Shuai (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Hybrid adaptive control; Integrated Chassis Control; PWA vehicle model; Vehicle dynamics; Vehicle control; Lateral stability control
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APA (6th Edition):
Jagga, D. (. (2017). Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149
Chicago Manual of Style (16th Edition):
Jagga, Dhruv (author). “Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty.” 2017. Masters Thesis, Delft University of Technology. Accessed April 18, 2021.
http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149.
MLA Handbook (7th Edition):
Jagga, Dhruv (author). “Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty.” 2017. Web. 18 Apr 2021.
Vancouver:
Jagga D(. Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 18].
Available from: http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149.
Council of Science Editors:
Jagga D(. Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149
10.
Lebel, Alexander.
Development of a Control System for a Series-Parallel Plug-In Hybrid Electric Vehicle.
Degree: MASc, 2017, McMaster University
URL: http://hdl.handle.net/11375/21240
► This thesis outlines the development of a control system for a series-parallel plugin hybrid electric vehicle. The vehicle, developed at McMaster University for the EcoCAR…
(more)
▼ This thesis outlines the development of a control system for a series-parallel plugin hybrid electric vehicle. The vehicle, developed at McMaster University for the EcoCAR 3 Advanced Vehicle Technology Competition, was produced in an effort to provide a Chevrolet Camaro with a high-performance, fuel efficient, hybrid powertrain.
A rational design methodology was adopted and guided the development of the control system and the implementation of its respective algorithms. A simulation tool was created using MATLAB and Simulink which, in turn, allowed for the effectiveness of the supervisory control logic to be evaluated by approximating the vehicle’s energy consumption, fuel consumption, and emissions. The impact of hybridizing the vehicle’s powertrain was similarly assessed by comparing it against its unelectrified counterpart, the 2016 Chevrolet Camaro LT.
A solution to the vehicle’s energy management problem was proposed in the form of an Adaptive Equivalent Consumption Minimization Strategy (A-ECMS) which was then evaluated against more common heuristic approaches as well as non-adaptive instantaneous minimization methods. An artificial neural network was selected as the strategy’s adaptation mechanism and it was used to identify specific vehicular driving patterns in real-time. The neural network addresses many issues that arise due to the sensitivity of algorithms that attempt to solve the energy management problem without prior knowledge of the driving cycle.
The methods used during the process of the control system’s verification and calibration are also discussed in this thesis and, in addition, encompass the use of software representations of the vehicle’s Electronic Control Units (ECUs), the development of test cases, and the supervisory control software’s evaluation in the Model-in-the-Loop (MIL), Software-in-the-Loop (SIL), and Hardware-in-the-Loop (HIL) environments.
Thesis
Master of Applied Science (MASc)
Compared to conventional combustion vehicles, an automobile with an electrified propulsion system has the potential to reduce fuel consumption and emissions due to the presence of an energy storage system and one or more electric machines. These benefits, however, come at the cost of increased control system complexity.
The question of how and when to use alternative energy sources – whether it be electrical or fuel energy – in a hybrid vehicle is at the epicenter of research and development initiatives in the automotive industry. Traditional heuristic methods have proven to be unstable due to their sensitivity to driving conditions and that optimal control policies require prior knowledge of the vehicle’s route and destination, and therefore, are not suitable in most applications. Strategies which attempt to instantaneously minimize a vehicle’s fuel or energy consumption, however, can overcome these aforementioned obstacles. As such, this area of research and development has received much interest.
The objective of this research was twofold: the first being to develop a control system for…
Advisors/Committee Members: Lawford, Mark, Wassyng, Alan, Software Engineering.
Subjects/Keywords: Hybrid Vehicle; Vehicle Electrification; Control System; Software; Adaptive Equivalent Consumption Minimization Strategy; Neural Network
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APA ·
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APA (6th Edition):
Lebel, A. (2017). Development of a Control System for a Series-Parallel Plug-In Hybrid Electric Vehicle. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/21240
Chicago Manual of Style (16th Edition):
Lebel, Alexander. “Development of a Control System for a Series-Parallel Plug-In Hybrid Electric Vehicle.” 2017. Masters Thesis, McMaster University. Accessed April 18, 2021.
http://hdl.handle.net/11375/21240.
MLA Handbook (7th Edition):
Lebel, Alexander. “Development of a Control System for a Series-Parallel Plug-In Hybrid Electric Vehicle.” 2017. Web. 18 Apr 2021.
Vancouver:
Lebel A. Development of a Control System for a Series-Parallel Plug-In Hybrid Electric Vehicle. [Internet] [Masters thesis]. McMaster University; 2017. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/11375/21240.
Council of Science Editors:
Lebel A. Development of a Control System for a Series-Parallel Plug-In Hybrid Electric Vehicle. [Masters Thesis]. McMaster University; 2017. Available from: http://hdl.handle.net/11375/21240
McMaster University
11.
Haußmann, Mike.
Development of a Control System for a P4 Parallel-Through-The-Road Hybrid Electric Vehicle.
Degree: MASc, 2019, McMaster University
URL: http://hdl.handle.net/11375/24786
► This thesis outlines the development of a control system for a P4-P0 Parallel-Through-The-Road Hybrid Electric Vehicle. This project was part of the EcoCAR Mobility Challenge,…
(more)
▼ This thesis outlines the development of a control system for a P4-P0 Parallel-Through-The-Road Hybrid Electric Vehicle. This project was part of the EcoCAR Mobility Challenge, an Advanced Vehicle Technology Competition, sponsored by the U.S. Department of Energy, MathWorks and General Motors. The McMaster Engineering EcoCAR team is participating in its second iteration, re-engineering a 2019 Chevrolet Blazer to suit a car-sharing service located within the Greater Toronto Hamilton Area. The proposed architecture uses a 1.5L Engine together with a Belted Alternator Starter motor connected to the traditional low voltage system. The rear axle is electrified containing an Electric Machine, a power oriented Battery Pack and team-designed gear reduction as well as a clutch. The whole rear powertrain is operating at high voltage and has no connection to the traditional low voltage system. Fuel economy improvements up to 12% can be expected while maintaining stock performance targets.
A vehicle simulation model was built to accompany the vehicle design process. This includes a mathematical representation of all powertrain components, the development of energy management algorithms, the design of the Hybrid Supervisory Controller structure, and validating and discussing gathered results. Furthermore, all necessary controllers were chosen and communication within them was established by designing the serial data architecture.
The developed energy management algorithm is customized to utilize the strengths of all components and this specific architecture. A simple rule-based algorithm is used to operate the engine as close as possible to its most fuel efficient operation point at any time. The P4 and P0 motor are used to apply supportive torque to the engine or load the engine with a negative torque. In that way the energy can be regenerated inside the powertrain and charge sustaining operation
v
can be achieved. Fuel economy and performance targets are used to discuss the assumed performance of the vehicle once re-engineered. The set targets range from city and highway fuel economy to IVM – 60 mph acceleration time.
Overall the developed control system suits a car-sharing service with its ability to adapt to the occurring driving situations ensuring a close to optimal operation for any known or unknown driving situation. It focuses on modularity, simplicity and functionality to allow a working implementation in future years of the EcoCAR Mobility Challenge.
Thesis
Master of Applied Science (MASc)
During the re-engineering of a Hybrid Electric Vehicle different expectations must be considered, for example set government fuel economy regulations, defined performance targets, novelty in innovation, stakeholder expectations as well as the used vehicle platform and the available components. The re-engineering process will be done according to the vehicle development process of the EcoCAR Mobility Challenge. Summarized expectations are the use of this vehicle inside a car-sharing service for the Greater Toronto…
Advisors/Committee Members: Emadi, Ali, Mechanical Engineering.
Subjects/Keywords: Control System; Hybrid Electric Vehicle; P4; P4-P0; Rule-Based; Adaptive; EcoCAR; EcoCAR Mobility Challenge
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APA ·
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APA (6th Edition):
Haußmann, M. (2019). Development of a Control System for a P4 Parallel-Through-The-Road Hybrid Electric Vehicle. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/24786
Chicago Manual of Style (16th Edition):
Haußmann, Mike. “Development of a Control System for a P4 Parallel-Through-The-Road Hybrid Electric Vehicle.” 2019. Masters Thesis, McMaster University. Accessed April 18, 2021.
http://hdl.handle.net/11375/24786.
MLA Handbook (7th Edition):
Haußmann, Mike. “Development of a Control System for a P4 Parallel-Through-The-Road Hybrid Electric Vehicle.” 2019. Web. 18 Apr 2021.
Vancouver:
Haußmann M. Development of a Control System for a P4 Parallel-Through-The-Road Hybrid Electric Vehicle. [Internet] [Masters thesis]. McMaster University; 2019. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/11375/24786.
Council of Science Editors:
Haußmann M. Development of a Control System for a P4 Parallel-Through-The-Road Hybrid Electric Vehicle. [Masters Thesis]. McMaster University; 2019. Available from: http://hdl.handle.net/11375/24786
Uppsala University
12.
Eriksson, Oskar.
Error Control in Wireless Sensor Networks : A Process Control Perspective.
Degree: Signals and Systems Group, 2011, Uppsala University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-160784
► The use of wireless technology in the process industry is becoming increasingly important to obtain fast deployment at low cost. However, poor channel quality…
(more)
▼ The use of wireless technology in the process industry is becoming increasingly important to obtain fast deployment at low cost. However, poor channel quality often leads to retransmissions, which are governed by Automatic Repeat Request (ARQ) schemes. While ARQ is a simple and useful tool to alleviate packet errors, it has considerable disadvantages: retransmissions lead to an increase in energy expenditure and latency. The use of Forward Error Correction (FEC) however offers several advantages. We consider a Hybrid-ARQ-Adaptive-FEC scheme (HAF) based on BCH codes and Channel State Information. This scheme is evaluated on AWGN and fading channels. It is shown that HAF offers significantly improved performance both in terms of energy efficiency and latency, as compared to ARQ.
Subjects/Keywords: wireless sensor networks; process control; hybrid ARQ; forward error correction; FEC; HARQ; adaptive FEC
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APA ·
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Export
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Manager
APA (6th Edition):
Eriksson, O. (2011). Error Control in Wireless Sensor Networks : A Process Control Perspective. (Thesis). Uppsala University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-160784
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Eriksson, Oskar. “Error Control in Wireless Sensor Networks : A Process Control Perspective.” 2011. Thesis, Uppsala University. Accessed April 18, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-160784.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Eriksson, Oskar. “Error Control in Wireless Sensor Networks : A Process Control Perspective.” 2011. Web. 18 Apr 2021.
Vancouver:
Eriksson O. Error Control in Wireless Sensor Networks : A Process Control Perspective. [Internet] [Thesis]. Uppsala University; 2011. [cited 2021 Apr 18].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-160784.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Eriksson O. Error Control in Wireless Sensor Networks : A Process Control Perspective. [Thesis]. Uppsala University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-160784
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
The Ohio State University
13.
Castillo Martinez, Guillermo Andres.
Design of Feedback Controllers for Biped Robots Based in
Reinforcement Learning and Hybrid Zero Dynamics.
Degree: MS, Electrical and Computer Engineering, 2019, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1555340995172442
► This thesis addresses the design of feedback controllers for biped robots using techniques from the control theory and machine learning. A novel approach that combines…
(more)
▼ This thesis addresses the design of feedback
controllers for biped robots using techniques from the
control
theory and machine learning. A novel approach that combines
Hybrid
Zero Dynamics (HZD) and Reinforcement Learning (RL) is proposed to
realize feedback controllers that achieve robust and stable walking
limit cycles while tracking variable desired speed.The design of
feedback controllers for bipedal locomotion is challenging due to
the
hybrid nature of its dynamics and the complexity imposed by
high-dimensional bipedal models. Existing RL approaches for bipedal
walking are inefficient as they do not consider the underlying
physics, often requires substantial training, and the resulting
controller may not be applicable to real robots. HZD is a powerful
tool for bipedal
control with local stability guarantees of the
walking limit cycles. In this thesis, we propose a
sample-efficient, non-traditional RL structure that embeds the HZD
framework into the policy learning process. More specifically, we
propose to use RL to find a
control policy that maps from the
robot's reduced order states to a set of parameters that define the
desired trajectories for the robot's joints through the virtual
constraints. Then, these trajectories are tracked using an
adaptive
PD controller. The proposed method is validated through simulation
of RABBIT, a well-know biped robot used as a testbed for advanced
control techniques. The simulation is implemented using OpenAI's
Gym with the MuJoCo physics engine. The result is a stable and
robust
control policy that is able to track variable desired speed
within a wide interval. To keep the tracking performance of higher
speeds the controller is able to get the robot into a running
phase. Robustness of the policy is evaluated by applying external
forces to the torso of the robot and comparing its performance with
a traditional HZD-based controller.
Advisors/Committee Members: Zhang, Wei (Advisor).
Subjects/Keywords: Electrical Engineering; Robotics; Humanoid and Bipedal Locomotion; Control of Robotic Systems; Reinforcement Learning; Hybrid Zero Dynamics; Robust and Adaptive Control
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APA (6th Edition):
Castillo Martinez, G. A. (2019). Design of Feedback Controllers for Biped Robots Based in
Reinforcement Learning and Hybrid Zero Dynamics. (Masters Thesis). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1555340995172442
Chicago Manual of Style (16th Edition):
Castillo Martinez, Guillermo Andres. “Design of Feedback Controllers for Biped Robots Based in
Reinforcement Learning and Hybrid Zero Dynamics.” 2019. Masters Thesis, The Ohio State University. Accessed April 18, 2021.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1555340995172442.
MLA Handbook (7th Edition):
Castillo Martinez, Guillermo Andres. “Design of Feedback Controllers for Biped Robots Based in
Reinforcement Learning and Hybrid Zero Dynamics.” 2019. Web. 18 Apr 2021.
Vancouver:
Castillo Martinez GA. Design of Feedback Controllers for Biped Robots Based in
Reinforcement Learning and Hybrid Zero Dynamics. [Internet] [Masters thesis]. The Ohio State University; 2019. [cited 2021 Apr 18].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1555340995172442.
Council of Science Editors:
Castillo Martinez GA. Design of Feedback Controllers for Biped Robots Based in
Reinforcement Learning and Hybrid Zero Dynamics. [Masters Thesis]. The Ohio State University; 2019. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1555340995172442
Michigan Technological University
14.
Rezaei, Amir.
An Optimal Energy Management Strategy for Hybrid Electric Vehicles.
Degree: PhD, Department of Electrical and Computer Engineering, 2017, Michigan Technological University
URL: https://digitalcommons.mtu.edu/etdr/378
► Hybrid Electric Vehicles (HEVs) are used to overcome the short-range and long charging time problems of purely electric vehicles. HEVs have at least two…
(more)
▼ Hybrid Electric Vehicles (HEVs) are used to overcome the short-range and long charging time problems of purely electric vehicles. HEVs have at least two power sources. Therefore, the Energy Management (EM) strategy for dividing the driver requested power between the available power sources plays an important role in achieving good HEV performance.
This work, proposes a novel real-time EM strategy for HEVs which is named ECMS-CESO. ECMS-CESO is based on the Equivalent Consumption Minimization Strategy (ECMS) and is designed to Catch Energy Saving Opportunities (CESO) while operating the vehicle. ECMS-CESO is an instantaneous optimal controller, i. e., it does not require prediction of the future demanded power by the driver. Therefore, ECMS-CESO is tractable for real-time operation.
Under certain conditions ECMS achieves the maximum fuel economy. The main challenge in employing ECMS is the estimation of the optimal equivalence factor <em>L
*</em>. Unfortunately, <em>L
*</em> is drive-cycle dependent, i. e., it changes from driver to driver and/or route to route. The lack of knowledge about <em>L
*</em> has been a motivation for studying a new class of EM strategies known as
Adaptive ECMS (A-ECMS). A-ECMS yields a causal controller that calculates
L(
t) at each moment t as an estimate of <em>L
*</em>. Existing A-ECMS algorithms estimate <em>L
*</em>, by heuristic approaches. Here, instead of direct estimation of <em>L
*</em>, analytic bounds on <em>L
*</em> are determined which are independent of the drive-cycle. Knowledge about the range of <em>L
*</em>, can be used to adaptively set
L(
t) as performed by the ECMS-CESO algorithm.
ECMS-CESO also defines soft constraints on the battery state of charge (SOC) and a penalty for exceeding the soft constraints. ECMS-CESO is allowed to exceed a SOC soft constraint when an energy saving opportunity is available. ECMS-CESO is efficient since there is no need for prediction and the intensive calculations for finding the optimal
control over the predicted horizon are not required. Simulation results for 3 different HEVs are used to confirm the expected performance of ECMS-CESO.
This work also investigates the performance of the model predictive
control with respect to the predicated horizon length.
Advisors/Committee Members: Jeffrey B. Burl.
Subjects/Keywords: Hybrid Electric Vehicle; Energy Management; Optimal Control; Control Strategy; ECMS; Adaptive ECMS; ECMS-CESO; Pontryagin's Minimum Principle; Instantaneous Optimal Control; Fuel Economy; Automotive Engineering; Controls and Control Theory
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APA (6th Edition):
Rezaei, A. (2017). An Optimal Energy Management Strategy for Hybrid Electric Vehicles. (Doctoral Dissertation). Michigan Technological University. Retrieved from https://digitalcommons.mtu.edu/etdr/378
Chicago Manual of Style (16th Edition):
Rezaei, Amir. “An Optimal Energy Management Strategy for Hybrid Electric Vehicles.” 2017. Doctoral Dissertation, Michigan Technological University. Accessed April 18, 2021.
https://digitalcommons.mtu.edu/etdr/378.
MLA Handbook (7th Edition):
Rezaei, Amir. “An Optimal Energy Management Strategy for Hybrid Electric Vehicles.” 2017. Web. 18 Apr 2021.
Vancouver:
Rezaei A. An Optimal Energy Management Strategy for Hybrid Electric Vehicles. [Internet] [Doctoral dissertation]. Michigan Technological University; 2017. [cited 2021 Apr 18].
Available from: https://digitalcommons.mtu.edu/etdr/378.
Council of Science Editors:
Rezaei A. An Optimal Energy Management Strategy for Hybrid Electric Vehicles. [Doctoral Dissertation]. Michigan Technological University; 2017. Available from: https://digitalcommons.mtu.edu/etdr/378
University of Waterloo
15.
Sakhdari, Bijan.
Real-time Autonomous Cruise Control of Connected Plug-in Hybrid Electric Vehicles Under Uncertainty.
Degree: 2018, University of Waterloo
URL: http://hdl.handle.net/10012/13931
► Advances in embedded digital computing and communication networks have enabled the development of automated driving systems. Autonomous cruise control (ACC) and cooperative ACC (CACC) systems…
(more)
▼ Advances in embedded digital computing and communication networks have enabled the development of automated driving systems. Autonomous cruise control (ACC) and cooperative ACC (CACC) systems are two popular types of these technologies, which can be implemented to enhance safety, traffic flow, driving comfort and energy economy. This PhD thesis develops robust and adaptive controllers for plug-in hybrid electric vehicles (PHEVs), with the Toyota Plug-in Prius as the baseline vehicle, in order to enable them to perform safe and robust car-following and platooning with improved vehicle performance.
Three controllers are designed here to achieve three main goals. The first goal of this thesis is the development of a real-time Ecological ACC (Eco-ACC) system for PHEVs, that is robust to uncertainties. A novel adaptive tube-based nonlinear model predictive control (AT-NMPC) approach to the design of Eco-ACC systems is proposed. Through utilizing two separate models to define the constrained optimal control problem, this method takes into account uncertainties, modeling errors and delayed data in the design of the controller and guaranties robust constraint handling for the assumed uncertainty bounds. {In addition, it adapts to changes in order to improve the control performance when possible.} Furthermore, a Newton/GMRES fast solver is employed to implement the designed AT-NMPC in real-time. The second goal is the development of a real-time Ecological CACC (Eco-CACC) system that can simultaneously satisfy the frequency-domain and time-domain platooning criteria. A novel distributed reference governor (RG) approach to the constraint handling of vehicle platoons equipped with CACC is presented. RG sits behind the controlled string stable system and keeps the output inside the defined constraints. Furthermore, to improve the platoon's energy economy, a controller is presented for the leader's control using NMPC method, assuming it is a PHEV.
The third objective of this thesis is the control of heterogeneous platoons using an adaptive control approach. A direct model reference adaptive controller (MRAC) is designed that enforces a string stable behavior on the vehicle platoon despite different dynamical models of the platoon members and the external disturbances acting on the systems. The proposed method estimates the controller coefficients on-line to adapt to the disturbances such as wind, changing road grade and also to different vehicle dynamic behaviors. The main purpose of all three controllers is to maintain the driving safety of connected vehicles in car-following and platooning while being real-time implementable. In addition, when there is a possibility for performance enhancement without sacrificing safety, ecological improvement is also considered.
For each designed controller, Model-in-the-Loop (MIL) simulations and Hardware-in-the-Loop (HIL) experiments are performed using high-fidelity vehicle models in order to validate controllers' performance and ensure their real-time implementation capability.
Subjects/Keywords: Cooperative Adaptive Cruise Control; Connected Vehicles; Model Predictive Control; Reference Governor; Vehicle Platooning; Plug-in Hybrid Electric Vehicles; Robust Control; Hardware-in-the-loop experiment; real-time control; intelligent vehicles; intelligent control; adaptive control; model reference adaptive control; car following; fuel economy; ecological driving; tube-based MPC; Toyota Prius; Rapid control prototyping
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APA ·
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MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Sakhdari, B. (2018). Real-time Autonomous Cruise Control of Connected Plug-in Hybrid Electric Vehicles Under Uncertainty. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/13931
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Sakhdari, Bijan. “Real-time Autonomous Cruise Control of Connected Plug-in Hybrid Electric Vehicles Under Uncertainty.” 2018. Thesis, University of Waterloo. Accessed April 18, 2021.
http://hdl.handle.net/10012/13931.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Sakhdari, Bijan. “Real-time Autonomous Cruise Control of Connected Plug-in Hybrid Electric Vehicles Under Uncertainty.” 2018. Web. 18 Apr 2021.
Vancouver:
Sakhdari B. Real-time Autonomous Cruise Control of Connected Plug-in Hybrid Electric Vehicles Under Uncertainty. [Internet] [Thesis]. University of Waterloo; 2018. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/10012/13931.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Sakhdari B. Real-time Autonomous Cruise Control of Connected Plug-in Hybrid Electric Vehicles Under Uncertainty. [Thesis]. University of Waterloo; 2018. Available from: http://hdl.handle.net/10012/13931
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
McMaster University
16.
Vakili, Sasan.
Design and Formal Verification of an Adaptive Cruise Control Plus (ACC+) System.
Degree: MASc, 2015, McMaster University
URL: http://hdl.handle.net/11375/16611
► Stop-and-Go Adaptive Cruise Control (ACC+) is an extension of Adaptive Cruise Control (ACC) that works at low speed as well as normal highway speeds to…
(more)
▼ Stop-and-Go Adaptive Cruise Control (ACC+) is an extension of Adaptive Cruise Control (ACC) that works at low speed as well as normal highway speeds to regulate the speed of the vehicle relative to the vehicle it is following. In this thesis, we design an ACC+ controller for a scale model electric vehicle that ensures the robust performance of the system under various models of uncertainty. We capture the operation of the hybrid system via a state-chart model that performs mode switching between different digital controllers with additional decision logic to guarantee the collision freedom of the system under normal operation. We apply different controller design methods such as Linear Quadratic Regulator (LQR) and H-infinity and perform multiple simulation runs in MATLAB/Simulink to validate the performance of the proposed designs. We compare the practicality of our design with existing formally verified ACC designs from the literature. The comparisons show that the other formally verified designs exhibit unacceptable behaviour in the form of mode thrashing that produces excessive acceleration and deceleration of the vehicle.
While simulations provide some assurance of safe operation of the system design, they do not guarantee system safety under all possible cases. To increase confidence in the system, we use Differential Dynamic Logic (dL) to formally state environmental assumptions and prove safety goals, including collision freedom. The verification is done in two stages. First, we identify the invariant required to ensure the safe operation of the system and we formally verify that the invariant preserves the safety property of any system with similar dynamics. This procedure provides a high level abstraction of a class of safe solutions for ACC+ system designs. Second, we show that our ACC+ system design is a refinement of the abstract model. The safety of the closed loop ACC+ system is proven by verifying bounds on the system variables using the KeYmaera verification tool for hybrid systems. The thesis demonstrates how practical ACC+ controller designs optimized for fuel economy, passenger comfort, etc., can be verified by showing that they are a refinement of the abstract high level design.
Thesis
Master of Applied Science (MASc)
Advisors/Committee Members: Lawford, Mark, Computing and Software.
Subjects/Keywords: Robust adaptive cruise control plus (ACC+) design; Stop and Go adaptive cruise control; Formal verification; Hybrid system; Collision freedom; Safety; Differential dynamic logic (dL); KeYmaera verification tool; Robust feedback control; Cyber physical system; Linear Quadratic Regulator (LQR); H-infinity
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APA (6th Edition):
Vakili, S. (2015). Design and Formal Verification of an Adaptive Cruise Control Plus (ACC+) System. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/16611
Chicago Manual of Style (16th Edition):
Vakili, Sasan. “Design and Formal Verification of an Adaptive Cruise Control Plus (ACC+) System.” 2015. Masters Thesis, McMaster University. Accessed April 18, 2021.
http://hdl.handle.net/11375/16611.
MLA Handbook (7th Edition):
Vakili, Sasan. “Design and Formal Verification of an Adaptive Cruise Control Plus (ACC+) System.” 2015. Web. 18 Apr 2021.
Vancouver:
Vakili S. Design and Formal Verification of an Adaptive Cruise Control Plus (ACC+) System. [Internet] [Masters thesis]. McMaster University; 2015. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/11375/16611.
Council of Science Editors:
Vakili S. Design and Formal Verification of an Adaptive Cruise Control Plus (ACC+) System. [Masters Thesis]. McMaster University; 2015. Available from: http://hdl.handle.net/11375/16611
Indian Institute of Science
17.
Sukumar, Jairam.
Towards a Unified Framework for Design of MEMS based VLSI Systems.
Degree: PhD, Faculty of Engineering, 2018, Indian Institute of Science
URL: http://etd.iisc.ac.in/handle/2005/3100
► Current day VLSI systems have started seeing increasing percentages of multiple energy domain components being integrated into the mainstream. Energy domains such as mechanical, optical,…
(more)
▼ Current day VLSI systems have started seeing increasing percentages of multiple energy domain components being integrated into the mainstream. Energy domains such as mechanical, optical, fluidic etc. have become all pervasive into VLSI systems and such systems are being manufactured routinely. The framework required to design such an integrated system with diverse energy domains needs to be evolved as a part of conventional VLSI design methodology. This is because manufacturing and design of these integrated energy domains although based on semiconductor processing, is still very ad-hoc, with each device requiring its dedicated design tools and process integration.
In this thesis three different approaches in different energy domains, have been pro-posed. These three domains include modelling & simulation, synthesis & compilation and formal verification. Three different scenarios have been considered and it is shown that these tasks can be co-performed along with conventional VLSI circuits and systems.
In the first approach a micro-mechanical beam bending case is presented. A thermal heat ow causing the beam to bend through thermal stress is analyzed for change in capacitance under a single analysis and modelling framework. This involves a seamless analysis through thermal, mechanical and electrical energy domains. The second part of the thesis explores synthesis and compilation paradigms. The concept of a Gyro-compiler analogous to a memory compiler is proposed, which primarily generates soft IP models for various gyro topologies.
The final part of this thesis deals in showcasing a working prototype of a formal verification framework for MEMS based
hybrid systems. The MEMS verification domain today is largely limited to simulation based verification. Many techniques have been proposed for formal verification of
hybrid systems. Some of these methods have been extended to demonstrate, how MEMS based
hybrid systems can be formally verified through ex-tensions of conventional formal verification methods. An
adaptive cruise
control (ACC) system with a gyro based speed sensor has been analyzed and formally verified for various specifications of this system.
Advisors/Committee Members: Bhat, Navakanta (advisor).
Subjects/Keywords: MEMS based VLSI Systems; VLSI Circuits; Modeling and Simulation; MEMS based Hybrid Systems; Formal Verifcation; Compiler; Gyroscopes; Adaptive Cruise Control (ACC) System; MEMS; Electrical Communication Engineering
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APA (6th Edition):
Sukumar, J. (2018). Towards a Unified Framework for Design of MEMS based VLSI Systems. (Doctoral Dissertation). Indian Institute of Science. Retrieved from http://etd.iisc.ac.in/handle/2005/3100
Chicago Manual of Style (16th Edition):
Sukumar, Jairam. “Towards a Unified Framework for Design of MEMS based VLSI Systems.” 2018. Doctoral Dissertation, Indian Institute of Science. Accessed April 18, 2021.
http://etd.iisc.ac.in/handle/2005/3100.
MLA Handbook (7th Edition):
Sukumar, Jairam. “Towards a Unified Framework for Design of MEMS based VLSI Systems.” 2018. Web. 18 Apr 2021.
Vancouver:
Sukumar J. Towards a Unified Framework for Design of MEMS based VLSI Systems. [Internet] [Doctoral dissertation]. Indian Institute of Science; 2018. [cited 2021 Apr 18].
Available from: http://etd.iisc.ac.in/handle/2005/3100.
Council of Science Editors:
Sukumar J. Towards a Unified Framework for Design of MEMS based VLSI Systems. [Doctoral Dissertation]. Indian Institute of Science; 2018. Available from: http://etd.iisc.ac.in/handle/2005/3100
18.
Ronquist, Anton.
Estimation and Compensation of Load-Dependent Position Error in a Hybrid Stepper Motor.
Degree: Automatic Control, 2016, Linköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129554
► Hybrid stepper motors are a common type of electric motor used throughout industry thanks to its low-cost, high torque at low speed and open…
(more)
▼ Hybrid stepper motors are a common type of electric motor used throughout industry thanks to its low-cost, high torque at low speed and open loop positioning capabilities. However, a closed loop control is often required for industrial applications with high precision requirements. The closed loop control can also be used to lower the power consumption of the motor and ensure that stalls are avoided. It is quite common to utilise a large and costly position encoder or resolver to feedback the position signal to the control logic. This thesis has explored the possibility of using a low-cost position sensor based on Hall elements. Additionally, a sensorless estimation algorithm, using only stator winding measurements, has been investigated both as a competitive alternative and as a possible complement to the position sensor. The thesis work summarises and discusses previous research attempts to adequately measure or estimate and control the hybrid stepper motors position and load angle without using a typical encoder or resolver. Qualitative results have been produced through simulations prior to implementation and experimental testing. The readings from the position sensor is subject to noise, owing to its resolution and construction. The position signal has been successfully filtered, improving its accuracy from 0.56° to 0.25°. The output from the sensorless estimation algorithm is subject to non-linear errors caused by errors in phase voltage measurements and processing of velocity changes. However, the dynamics are reliable at constant speeds and could be used for position control.
Subjects/Keywords: Adaptive Notch Filter; Back-EMF; Electric Motor Position Control; Error Modelling; Field-Oriented Control; Hybrid Stepper Motor; Kalman Filter; Load Angle; Magnetic Rotary Position Sensor; Sensorless Control; Sliding Window Discrete Fourier Transform; Stall Detection and Prediction.
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APA (6th Edition):
Ronquist, A. (2016). Estimation and Compensation of Load-Dependent Position Error in a Hybrid Stepper Motor. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129554
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ronquist, Anton. “Estimation and Compensation of Load-Dependent Position Error in a Hybrid Stepper Motor.” 2016. Thesis, Linköping University. Accessed April 18, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129554.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ronquist, Anton. “Estimation and Compensation of Load-Dependent Position Error in a Hybrid Stepper Motor.” 2016. Web. 18 Apr 2021.
Vancouver:
Ronquist A. Estimation and Compensation of Load-Dependent Position Error in a Hybrid Stepper Motor. [Internet] [Thesis]. Linköping University; 2016. [cited 2021 Apr 18].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129554.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ronquist A. Estimation and Compensation of Load-Dependent Position Error in a Hybrid Stepper Motor. [Thesis]. Linköping University; 2016. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129554
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Linköping University
19.
Axehill, Daniel.
Adaptive Cruise Control for Heavy Vehicles : Hybrid Control and MPC.
Degree: Electrical Engineering, 2003, Linköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1604
► An Adaptive Cruise Controller (ACC) is an extension of an ordinary cruise controller. In addition to maintaining a desired set velocity, an ACC can…
(more)
▼ An Adaptive Cruise Controller (ACC) is an extension of an ordinary cruise controller. In addition to maintaining a desired set velocity, an ACC can also maintain a desired time gap to the vehicle ahead. For this end, both the engine andthe brakes are controlled. The purpose with this thesis has been to develop control strategies for an ACC used in heavy vehicles. The focus of the work has been the methods used for switching between the use of engine and brake. Two different methods have been studied, a hybrid controller and an MPC-controller. For the hybrid controller, the main contribution has been to use the influence of the surroundings on the acceleration of the truck. This consists of several parts such as wind drag, road slope and rolling resistance. The estimated influence of the surroundings is used as a switch point between the use of engine and brakes. Ideally, these switch points give bumpless actuator switches. The interest in the MPC-controller as an alternative solution was to achieve automatic actuator switching, thus with no explicitly defined switch points. The MPC-controller is based on a model of the system including bounds on the control signals. Using this knowledge, the MPC-controller will choose the correct actuator for the current driving situation. Results from simulations show that both methods solve the actuator switch problem. The advantages with the hybrid controller are that it is implementable in a truck with the hardware used today and that it is relatively simple to parameterise. A drawback is that explicit switch points between the uses of the different actuators have to be included. The advantages with the MPC-controller are that no explicit switch points have to be introduced and that constraints and time delays on signals in the system can be handled in a simple way. Among the drawbacks, it can be mentioned that the variant of MPC, used in this thesis, is too complex to implement in the control system currently used in trucks. One further important drawback is that MPC demands a mathematical model of the system.
Subjects/Keywords: Reglerteknik; hybrid control; MPC; ACC; Adaptive cruise control; truck; actuator switching; switch strategies; state machine; Reglerteknik; Automatic control; Reglerteknik
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APA (6th Edition):
Axehill, D. (2003). Adaptive Cruise Control for Heavy Vehicles : Hybrid Control and MPC. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1604
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Axehill, Daniel. “Adaptive Cruise Control for Heavy Vehicles : Hybrid Control and MPC.” 2003. Thesis, Linköping University. Accessed April 18, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1604.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Axehill, Daniel. “Adaptive Cruise Control for Heavy Vehicles : Hybrid Control and MPC.” 2003. Web. 18 Apr 2021.
Vancouver:
Axehill D. Adaptive Cruise Control for Heavy Vehicles : Hybrid Control and MPC. [Internet] [Thesis]. Linköping University; 2003. [cited 2021 Apr 18].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1604.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Axehill D. Adaptive Cruise Control for Heavy Vehicles : Hybrid Control and MPC. [Thesis]. Linköping University; 2003. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1604
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Georgia Tech
20.
Mehta, Tejas R.
Optimal, Multi-Modal Control with Applications in Robotics.
Degree: PhD, Electrical and Computer Engineering, 2007, Georgia Tech
URL: http://hdl.handle.net/1853/14628
► The objective of this dissertation is to incorporate the concept of optimality to multi-modal control and apply the theoretical results to obtain successful navigation strategies…
(more)
▼ The objective of this dissertation is to incorporate the concept of optimality to multi-modal
control and apply the theoretical results to obtain successful navigation strategies for autonomous mobile robots. The main idea in multi-modal
control is to breakup a complex
control task into simpler tasks. In particular, number of
control modes are constructed, each with respect to a particular task, and these modes are combined according to some supervisory
control logic in order to complete the overall
control task. This way of modularizing the
control task lends itself particularly well to the
control of autonomous mobile robot, as evidenced by the success of behavior-based robotics. Many challenging and interesting research issues arise when employing multi-modal
control. This thesis aims to address these issues within an optimal
control framework.
In particular, the contributions of this dissertation are as follows: We first addressed the problem of inferring global behaviors from a collection of local rules (i.e., feedback
control laws). Next, we addressed the issue of adaptively varying the multi-modal
control system to further improve performance. Inspired by
adaptive multi-modal
control, we presented a constructivist framework for the learning from example problem. This framework was applied to the DARPA sponsored Learning Applied to Ground Robots (LAGR) project. Next, we addressed the optimal
control of multi-modal systems with infinite dimensional constraints. These constraints are formulated as multi-modal, multi-dimensional (M3D) systems, where the dimensions of the state and
control spaces change between modes to account for the constraints, to ease the computational burdens associated with traditional methods. Finally, we used multi-modal
control strategies to develop effective navigation strategies for autonomous mobile robots. The theoretical results presented in this thesis are verified by conducting simulated experiments using Matlab and actual experiments using the Magellan Pro robot platform and the LAGR robot.
In closing, the main strength of multi-modal
control lies in breaking up complex
control task into simpler tasks. This divide-and-conquer approach helps modularize the
control system. This has the same effect on complex
control systems that object-oriented programming has for large-scale computer programs, namely it allows greater simplicity, flexibility, and adaptability.
Advisors/Committee Members: Egerstedt, Magnus (Committee Chair), Ferri, Bonnie (Committee Member), Lee, Chin-Hui (Committee Member), Reveliotis, Spyros (Committee Member), Yezzi, Anthony (Committee Member).
Subjects/Keywords: Variational methods; Linguistic control of mobile robots; Optimal control; Multi-modal control; Hybrid systems; Autonomous robots; Mobile robots; Adaptive control systems; Automatic control
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APA (6th Edition):
Mehta, T. R. (2007). Optimal, Multi-Modal Control with Applications in Robotics. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/14628
Chicago Manual of Style (16th Edition):
Mehta, Tejas R. “Optimal, Multi-Modal Control with Applications in Robotics.” 2007. Doctoral Dissertation, Georgia Tech. Accessed April 18, 2021.
http://hdl.handle.net/1853/14628.
MLA Handbook (7th Edition):
Mehta, Tejas R. “Optimal, Multi-Modal Control with Applications in Robotics.” 2007. Web. 18 Apr 2021.
Vancouver:
Mehta TR. Optimal, Multi-Modal Control with Applications in Robotics. [Internet] [Doctoral dissertation]. Georgia Tech; 2007. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/1853/14628.
Council of Science Editors:
Mehta TR. Optimal, Multi-Modal Control with Applications in Robotics. [Doctoral Dissertation]. Georgia Tech; 2007. Available from: http://hdl.handle.net/1853/14628
21.
Ameho, Yann.
Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative : Adaptive control for a family of quadrotors and a hybrid micro air vehicle.
Degree: Docteur es, Automatique, 2013, Toulouse, ISAE
URL: http://www.theses.fr/2013ESAE0031
► Les micro-drones sont des aéronefs sans pilotes de dimensions inférieures à un mètre et de poids inférieur à deux kilogrammes. Ils se distinguent des aéronefs…
(more)
▼ Les micro-drones sont des aéronefs sans pilotes de dimensions inférieures à un mètre et de poids inférieur à deux kilogrammes. Ils se distinguent des aéronefs classiques pour plusieurs raisons : un cycle de développement plus court, un coût plus faible, leur facilité d'opération et des configurations de véhicules spécifiques. L'ensemble de ces points attendent une réponse spécifique dans le développement des lois de commandes. Cette thèse s'y intéresse à travers deux problématiques : la commande d'une famille de drones quadrirotors et celle d'un drone hybride. Une famille de drones représente un même concept de véhicule décliné en plusieurs tailles dont on peut faire varier la charge utile ou son emplacement. Les lois de commandes doivent assurer un même niveau de performances malgré ses modifications. Un drone hybride se caractérise par sa capacité à réaliser du vol stationnaire et du vol d'avancement. Ces deux modes de vol ont chacun une dynamique de vol spécifique à laquelle les lois de commandes doivent s'adapter. Cette thèse présente la modélisation de quadrirotors et d'un drone hybride puis détaille une approche de commande adaptative indirecte qui répond aux problèmes introduits. La commande adaptative permet de garantir à l'aide d'un correcteur unique les performances de commande pour de multiples systèmes. Les méthodes d'estimation de paramètres et de synthèse linéaire à paramètres variants du schéma de commande sont décrites, puis, finalement, des résultats d'essais en vol montrent l'apport et les limites de cette approche.
Micro Air Vehicle are pilotless aircrafts with dimensions not exceeding one meter and a maximum weight of two kilograms. They are different from classical aircrafts for multiple reasons: a shorter development cycle, a cheaper development, their ease of operation and specific vehicle configurations. All these points expect a specific answer in the development of the control laws of the vehicles. This thesis considers this topic through two particular issues: the control of a family of quadrotors and the control of hybrid micro air vehicle. A family of quadrotor represents a single concept of vehicle but with various sizes, payloads and payload configurations. Control laws must guarantee the same level of performance despite all these modifications. A hybrid micro air vehicle is able to both hover like a helicopter and fly forward like a plane. These two flight modes have specific flight dynamics that the control laws must adapt to. This thesis first presents a model of quadrotors and hybrid micro air vehicle and then details an indirect adaptive control method to tackle both issues. Adaptive control should guarantee performance of multiple controlled systems with a single controller. The parameter estimation and linear parameter varying synthesis method of the adaptive control scheme are described and finally flight test results show the contributions and limits of the approach.
Advisors/Committee Members: Bérard, Caroline (thesis director), Biannic, Jean-Marc (thesis director).
Subjects/Keywords: Micro-drone; Quadrirotor; Drone hybride; Commande adaptative; Synthèse linéaire à paramètres variants; Estimation de paramètres; Micro air vehicle; Quadrotor; Hybrid aerial vehicle; Adaptive control; Linear parameter varying control; Parameter estimation; 629.8
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APA (6th Edition):
Ameho, Y. (2013). Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative : Adaptive control for a family of quadrotors and a hybrid micro air vehicle. (Doctoral Dissertation). Toulouse, ISAE. Retrieved from http://www.theses.fr/2013ESAE0031
Chicago Manual of Style (16th Edition):
Ameho, Yann. “Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative : Adaptive control for a family of quadrotors and a hybrid micro air vehicle.” 2013. Doctoral Dissertation, Toulouse, ISAE. Accessed April 18, 2021.
http://www.theses.fr/2013ESAE0031.
MLA Handbook (7th Edition):
Ameho, Yann. “Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative : Adaptive control for a family of quadrotors and a hybrid micro air vehicle.” 2013. Web. 18 Apr 2021.
Vancouver:
Ameho Y. Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative : Adaptive control for a family of quadrotors and a hybrid micro air vehicle. [Internet] [Doctoral dissertation]. Toulouse, ISAE; 2013. [cited 2021 Apr 18].
Available from: http://www.theses.fr/2013ESAE0031.
Council of Science Editors:
Ameho Y. Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative : Adaptive control for a family of quadrotors and a hybrid micro air vehicle. [Doctoral Dissertation]. Toulouse, ISAE; 2013. Available from: http://www.theses.fr/2013ESAE0031
22.
Breimer, Benjamin.
Design of an Adaptive Cruise Control Model for Hybrid Systems Fault Diagnosis.
Degree: MASc, 2013, McMaster University
URL: http://hdl.handle.net/11375/12839
► Driver Assistance Systems like Adaptive Cruise Control (ACC) can help prevent accidents by reducing the workload on the driver. However, this can only be…
(more)
▼ Driver Assistance Systems like Adaptive Cruise Control (ACC) can help prevent accidents by reducing the workload on the driver. However, this can only be accomplished if the driver can rely on the system to perform safely even in the presence of faults. In this thesis we develop an Adaptive Cruise Control model that will be used to investigate Hybrid Systems Fault Diagnosis techniques. System Identification is performed upon an electric motor to obtain its transfer function. This electric motor belongs to a 1/10th scale RC car that is being used as part of a test bench for the Adaptive Cruise Control system. The identified model is then used to design a hybrid controller which will switch between a set of LQR controllers to create an example Adaptive Cruise Controller. The model of the controller is then used to generate fixed point code for implementation on the testbed and validation against the model controller. Finally a detailed hazard analysis of the resulting system is performed using Leveson's STPA.
Master of Applied Science (MASc)
Advisors/Committee Members: Wassyng, Alan, Lawford, Mark, Douglas Down, Ned Nedialkov, Computing and Software.
Subjects/Keywords: Hybrid Systems; Adaptive Cruise Control; Fault Diagnosis; Controls and Control Theory; Software Engineering; Controls and Control Theory
…The goal of this thesis is to develop a hybrid systems model of Adaptive Cruise
Control for… …thesis we develop of a Hybrid Systems model for Adaptive Cruise Control.
The intended use for… …McMaster - Software Engineering
❼ The development of a Hybrid Model of Adaptive Cruise Control… …Control and System Design
In this chapter the design of the Hybrid Systems Adaptive Cruise… …Hybrid systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.3
Adaptive…
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APA ·
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APA (6th Edition):
Breimer, B. (2013). Design of an Adaptive Cruise Control Model for Hybrid Systems Fault Diagnosis. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/12839
Chicago Manual of Style (16th Edition):
Breimer, Benjamin. “Design of an Adaptive Cruise Control Model for Hybrid Systems Fault Diagnosis.” 2013. Masters Thesis, McMaster University. Accessed April 18, 2021.
http://hdl.handle.net/11375/12839.
MLA Handbook (7th Edition):
Breimer, Benjamin. “Design of an Adaptive Cruise Control Model for Hybrid Systems Fault Diagnosis.” 2013. Web. 18 Apr 2021.
Vancouver:
Breimer B. Design of an Adaptive Cruise Control Model for Hybrid Systems Fault Diagnosis. [Internet] [Masters thesis]. McMaster University; 2013. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/11375/12839.
Council of Science Editors:
Breimer B. Design of an Adaptive Cruise Control Model for Hybrid Systems Fault Diagnosis. [Masters Thesis]. McMaster University; 2013. Available from: http://hdl.handle.net/11375/12839
Brno University of Technology
23.
Pospíšilík, Šimon.
Použití hybridní metody pro řízení zásobní funkce vodní nádrže: Using a Hybrid Method for Control the Storage Capacity of the Dam Reservoir.
Degree: 2018, Brno University of Technology
URL: http://hdl.handle.net/11012/68902
► Bachelor thesis is focused on the selection of a suitable input regional climate model into the Hybrid method for the control of the storage function…
(more)
▼ Bachelor thesis is focused on the selection of a suitable input regional climate model into the
Hybrid method for the
control of the storage function of water reservoirs. This
control method is based on a suitable combination optimization method with the Support vector machines method. Selecting a suitable regional climate model is done by simulating the
control of the storage function of water reservoirs Vír I in program Microsoft Exel. The simulation results of the
hybrid control method are compared with other
control methods. These methods are
Adaptive control, Dispatcher graph, and
control to Improved outflow.
Advisors/Committee Members: Menšík, Pavel (advisor), Kozel, Tomáš (referee).
Subjects/Keywords: Hybridní metoda; Adaptivní řízení; Dispečerský graf; nalepšený odtok; regionální klimatický model; optimalizace; Support vector machines; zásobní funkce; Hybrid method; Adaptive control; Dispatcher graph; improved outflow; regional climate model; optimization; Support vector machines; storage function
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APA (6th Edition):
Pospíšilík, . (2018). Použití hybridní metody pro řízení zásobní funkce vodní nádrže: Using a Hybrid Method for Control the Storage Capacity of the Dam Reservoir. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/68902
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Pospíšilík, Šimon. “Použití hybridní metody pro řízení zásobní funkce vodní nádrže: Using a Hybrid Method for Control the Storage Capacity of the Dam Reservoir.” 2018. Thesis, Brno University of Technology. Accessed April 18, 2021.
http://hdl.handle.net/11012/68902.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Pospíšilík, Šimon. “Použití hybridní metody pro řízení zásobní funkce vodní nádrže: Using a Hybrid Method for Control the Storage Capacity of the Dam Reservoir.” 2018. Web. 18 Apr 2021.
Vancouver:
Pospíšilík . Použití hybridní metody pro řízení zásobní funkce vodní nádrže: Using a Hybrid Method for Control the Storage Capacity of the Dam Reservoir. [Internet] [Thesis]. Brno University of Technology; 2018. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/11012/68902.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Pospíšilík . Použití hybridní metody pro řízení zásobní funkce vodní nádrže: Using a Hybrid Method for Control the Storage Capacity of the Dam Reservoir. [Thesis]. Brno University of Technology; 2018. Available from: http://hdl.handle.net/11012/68902
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
24.
JUNG, DAEYI.
Nonlinear Vibration Control and Limit-Cycle Analysis of Rotor/Autobalancer Systems Equipped with Hydrodynamic and Active Magnetic Bearing Supports.
Degree: 2012, University of Tennessee – Knoxville
URL: https://trace.tennessee.edu/utk_graddiss/1432
► In recent years, there has been much interest in the use of automatic balancing devices (ABDs) in rotating machinery. Autobalancers consists of several freely moving…
(more)
▼ In recent years, there has been much interest in the use of automatic balancing devices (ABDs) in rotating machinery. Autobalancers consists of several freely moving eccentric balancing masses mounted on the rotor, which, at certain operating speeds, act to cancel rotor imbalance. This “automatic balancing” phenomena occurs as a result of nonlinear dynamic interactions between the balancer and rotor wherein the balancer masses naturally synchronize with the rotor with appropriate phase to cancel the imbalance. However, due to inherent nonlinearity of the autobalancer, the potential for other undesirable non-synchronous limit-cycle behavior exists. In such situations, the balancer masses do not reach their desired synchronous balanced positions resulting in increased rotor vibration. By recognizing this issues, this research explores this non-synchronous behavior for rotor-shaft system in the augmented with auto-balancer device(ABD) supported by various types of bearing and suggests methods to prevent this undesirable condition by searching for either desirable operating condition to avoid it or suppress it using active actuation. Specifically, an approximated harmonic solution for the limit-cycle is obtained and the limit-cycle stability is assessed via a perturbation and Floquet analysis and the coexistence of the stable balanced synchronous condition and undesired non-synchronous limit-cycle are studied. It is found that for certain combinations of bearing parameters and operating speeds, the non-synchronous limit-cycle can be made unstable thus guaranteeing global asymptotic stability of the synchronous balanced condition and the inherent nonlinear characteristic of the driving frequency induced by ball mass running on ABD track under limit cycle condition is revealed here. Finally, the analysis is validated through numerical time and frequency domain simulation. The findings in this study yield important insights for researchers wishing to utilize automatic balancing devices in shaft/eccentric rotor system with various types of bearing. Additionally, a new adaptive active control algorithm for the rotor/bearing/ABD system supported by active magnetic bearing(AMB) is derived based on the Lyapunov approach which guarantees global asymptotic stability of the synchronous balanced condition. This approach enables the controller to cope with both the system nonlinearity introduced by the passive ABD and with the rotor imbalance uncertainty. Here, the controllability of system is established through an accessible distribution Lie bracket operational analysis. The simulation results demonstrate the advantages of the hybrid ABD/AMB. In particular, it is shown that the balanced equilibrium can be made globally attractive under the action of the adaptive bearing control law, and that the steady-state power levels are significantly reduced via the addition of the ABD. These findings are relevant to limited power applications such as in satellite reaction wheels or flywheel energy storage batteries.
Subjects/Keywords: Nonlinear Autobalancer Device; Imbalance vibration; Hybrid adaptive control; Acoustics, Dynamics, and Controls
…60
CHAPTER IV Hybrid Adaptive Rotor Imbalance Vibration Control via Passive
Autobalancer… …investigate that the hybrid interaction between
the ABD and the AMB governed by the adaptive control… …63
vii
4.3 Adaptive Control law Development… …65
4.4 Hybrid Control strategy… …71
ix
Figure.4.4 Supervisory hybrid control strategy map and four examples…
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APA (6th Edition):
JUNG, D. (2012). Nonlinear Vibration Control and Limit-Cycle Analysis of Rotor/Autobalancer Systems Equipped with Hydrodynamic and Active Magnetic Bearing Supports. (Doctoral Dissertation). University of Tennessee – Knoxville. Retrieved from https://trace.tennessee.edu/utk_graddiss/1432
Chicago Manual of Style (16th Edition):
JUNG, DAEYI. “Nonlinear Vibration Control and Limit-Cycle Analysis of Rotor/Autobalancer Systems Equipped with Hydrodynamic and Active Magnetic Bearing Supports.” 2012. Doctoral Dissertation, University of Tennessee – Knoxville. Accessed April 18, 2021.
https://trace.tennessee.edu/utk_graddiss/1432.
MLA Handbook (7th Edition):
JUNG, DAEYI. “Nonlinear Vibration Control and Limit-Cycle Analysis of Rotor/Autobalancer Systems Equipped with Hydrodynamic and Active Magnetic Bearing Supports.” 2012. Web. 18 Apr 2021.
Vancouver:
JUNG D. Nonlinear Vibration Control and Limit-Cycle Analysis of Rotor/Autobalancer Systems Equipped with Hydrodynamic and Active Magnetic Bearing Supports. [Internet] [Doctoral dissertation]. University of Tennessee – Knoxville; 2012. [cited 2021 Apr 18].
Available from: https://trace.tennessee.edu/utk_graddiss/1432.
Council of Science Editors:
JUNG D. Nonlinear Vibration Control and Limit-Cycle Analysis of Rotor/Autobalancer Systems Equipped with Hydrodynamic and Active Magnetic Bearing Supports. [Doctoral Dissertation]. University of Tennessee – Knoxville; 2012. Available from: https://trace.tennessee.edu/utk_graddiss/1432
25.
Cocetti, Matteo.
Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems : Rétroactions non linéaires et hybrides avec systèmes linéaires à temps continu.
Degree: Docteur es, Automatique, 2019, Toulouse, INSA; UNIVERSITE DE TRENTE
URL: http://www.theses.fr/2019ISAT0014
► Dans cette thèse, nous étudions la rétroaction de systèmes linéaires invariants dans le temps reliés entre eux par trois blocs non linéaires spécifiques : un…
(more)
▼ Dans cette thèse, nous étudions la rétroaction de systèmes linéaires invariants dans le temps reliés entre eux par trois blocs non linéaires spécifiques : un opérateur de lecture/arrêt, un mécanisme de réinitialisation de commutation et une zone morte adaptative. Cette configuration ressemble au problème de Lure étudié dans le cadre de stabilité absolue, mais les types de non-linéarités considérés ici ne satisfont pas (en général) une condition sectorielle. Ces blocs non linéaires donnent lieu à toute une série de phénomènes intéressants, tels que des ensembles compacts d’équilibres, des ensembles hybrides oméga-limites et des contraintes d’état. Tout au long de la thèse, nous utilisons le formalisme des systèmes hybrides pour décrire ces phénomènes et analyser ces boucles. Nous obtenons des conditions de stabilité très précises qui peuvent être formulées sous forme d’inégalités matricielles linéaires, donc vérifiables avec des solveurs numériques efficaces. Enfin, nous appliquons les résultats théoriques à deux applications automobiles.
In this thesis we study linear time-invariant systems feedback interconnected with three specific nonlinear blocks; a play/stop operator, a switching-reset mechanism, and an adaptive dead-zone. This setup resembles the Lure problem studied in the absolute stability framework, but the types of nonlinearities considered here do not satisfy (in general) a sector condition. These nonlinear blocks give rise to a whole range of interesting phenomena, such as compact sets of equilibria, hybrid omega-limit sets, and state constraints. Throughout the thesis, we use the hybrid systems formalism to describe these phenomena and to analyze these loops. We obtain sharp stability conditions that can be formulated as linear matrix inequalities, thus verifiable with numerically efficient solvers. Finally, we apply the theoretical findings to two automotive applications.
Advisors/Committee Members: Tarbouriech, Sophie (thesis director), Bertolazzi, Enrico (thesis director).
Subjects/Keywords: Systèmes hybrides; Contrôle de remise à zéro; Systèmes Lure; Opérateur de jeu/arrêt; Systèmes adaptatifs; Stabilité asymptotique ponctuelle; Inégalités de matrice linéaire; Hybrid systems; Reset control; Lure systems; Play/stop operator; Adaptive systems; Pointwise asymptotic stability; Linear matrix inequalities; 629.8
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APA (6th Edition):
Cocetti, M. (2019). Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems : Rétroactions non linéaires et hybrides avec systèmes linéaires à temps continu. (Doctoral Dissertation). Toulouse, INSA; UNIVERSITE DE TRENTE. Retrieved from http://www.theses.fr/2019ISAT0014
Chicago Manual of Style (16th Edition):
Cocetti, Matteo. “Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems : Rétroactions non linéaires et hybrides avec systèmes linéaires à temps continu.” 2019. Doctoral Dissertation, Toulouse, INSA; UNIVERSITE DE TRENTE. Accessed April 18, 2021.
http://www.theses.fr/2019ISAT0014.
MLA Handbook (7th Edition):
Cocetti, Matteo. “Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems : Rétroactions non linéaires et hybrides avec systèmes linéaires à temps continu.” 2019. Web. 18 Apr 2021.
Vancouver:
Cocetti M. Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems : Rétroactions non linéaires et hybrides avec systèmes linéaires à temps continu. [Internet] [Doctoral dissertation]. Toulouse, INSA; UNIVERSITE DE TRENTE; 2019. [cited 2021 Apr 18].
Available from: http://www.theses.fr/2019ISAT0014.
Council of Science Editors:
Cocetti M. Nonlinear and Hybrid Feedbacks with Continuous-Time Linear Systems : Rétroactions non linéaires et hybrides avec systèmes linéaires à temps continu. [Doctoral Dissertation]. Toulouse, INSA; UNIVERSITE DE TRENTE; 2019. Available from: http://www.theses.fr/2019ISAT0014
26.
Meena, Yogesh.
Hybrid human-computer interfaces for effective communication and independent living.
Degree: PhD, 2018, Ulster University
URL: https://pure.ulster.ac.uk/en/studentTheses/6b4c062b-6940-4d62-9d13-dbdcf4e89020
;
https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.814137
► Human-computer interface (HCI) and brain-computer interface (BCI) based assistive technologies (ATs) can provide novel communication mediums that can aid in removing many barriers that people…
(more)
▼ Human-computer interface (HCI) and brain-computer interface (BCI) based assistive technologies (ATs) can provide novel communication mediums that can aid in removing many barriers that people with disabilities face. Specifically, eye-tracking-based HCIs and non-invasive BCIs open up new pathways of interaction for speech, motor, and cognitively impaired people. Eye-tracking-based ATs can be designed by using a dedicated eye-tracking device which acquires and processes eye-gaze. Similarly, BCI-based ATs can be designed by decoding electroencephalography (EEG) signals over the sensorimotor cortex of a user by performing motor imagery (MI) tasks. However, there are several challenges to overcome before eye-tracking-based HCIs and MI-based BCIs become suitable for wider practical use. The usability of eye-tracking-based HCIs is limited due to factors such as low accuracy of detection of the eye-gaze coordinates, difficulties in accurate quantification of user's intentions, and involuntary eye movements. Likewise, the main challenges with current BCI systems are the limited number of commands, the selection of the most appropriate brain activities, environmental noise, and usability issues in real-world scenarios. These challenges can be better addressed by designing a hybrid-multimodal system that involves a combination of complementary neurophysiological and other physiological signals, which is the main aim of this thesis. This thesis involves four major contributions towards the design of robust hybrid-multimodal HCI systems with applications in ATs for speech and motor impaired people. First, a feasibility study to combine the BCI and eye-tracking technologies is undertaken by designing a hybrid system that can increase the number of commands with a combination of eye-gaze and MI. Second, a novel adaptive augmentative and alternative communication (AAC) system with an application to eye-gaze based virtual keyboards is designed and optimised for a combination of various portable non-invasive and low-cost input devices. Third, a new approach for optimisation of the graphical user interface (GUI) of the multimodal eye-gaze virtual keyboards is proposed and evaluated empirically with a Hindi alphabet virtual keyboard. Fourth, the GUI of virtual keyboard application is translated for multimodal eye-gaze control of wheelchair-based independent living applications. Overall, the research in the thesis has made significant contributions to advance beyond the state-of-the-art HCI-based ATs.
Subjects/Keywords: Human Machine Interaction; Assistive Technology; Eye-tracking; Brain-Computer Interface; Human-Computer Interaction; Multi-Modal Interaction; Multi-Modal HCI; Hybrid HCI; Eye-gaze-controlled System; Virtual Keyboard; Wheelchair Control; Adaptive System; Optimised Interfaces; Augmentative and Alternative Communication; AAC; HMI; BCI; HCI
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APA (6th Edition):
Meena, Y. (2018). Hybrid human-computer interfaces for effective communication and independent living. (Doctoral Dissertation). Ulster University. Retrieved from https://pure.ulster.ac.uk/en/studentTheses/6b4c062b-6940-4d62-9d13-dbdcf4e89020 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.814137
Chicago Manual of Style (16th Edition):
Meena, Yogesh. “Hybrid human-computer interfaces for effective communication and independent living.” 2018. Doctoral Dissertation, Ulster University. Accessed April 18, 2021.
https://pure.ulster.ac.uk/en/studentTheses/6b4c062b-6940-4d62-9d13-dbdcf4e89020 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.814137.
MLA Handbook (7th Edition):
Meena, Yogesh. “Hybrid human-computer interfaces for effective communication and independent living.” 2018. Web. 18 Apr 2021.
Vancouver:
Meena Y. Hybrid human-computer interfaces for effective communication and independent living. [Internet] [Doctoral dissertation]. Ulster University; 2018. [cited 2021 Apr 18].
Available from: https://pure.ulster.ac.uk/en/studentTheses/6b4c062b-6940-4d62-9d13-dbdcf4e89020 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.814137.
Council of Science Editors:
Meena Y. Hybrid human-computer interfaces for effective communication and independent living. [Doctoral Dissertation]. Ulster University; 2018. Available from: https://pure.ulster.ac.uk/en/studentTheses/6b4c062b-6940-4d62-9d13-dbdcf4e89020 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.814137
Georgia Tech
27.
Hayakawa, Tomohisa.
Direct Adaptive Control for Nonlinear Uncertain Dynamical Systems.
Degree: PhD, Aerospace Engineering, 2003, Georgia Tech
URL: http://hdl.handle.net/1853/5292
► In light of the complex and highly uncertain nature of dynamical systems requiring controls, it is not surprising that reliable system models for many high…
(more)
▼ In light of the complex and highly uncertain nature of dynamical systems
requiring controls, it is not surprising that reliable system models for many
high performance engineering and life science applications are unavailable. In
the face of such high levels of system uncertainty, robust controllers may
unnecessarily sacrifice system performance whereas
adaptive controllers are
clearly appropriate since they can tolerate far greater system uncertainty
levels to improve system performance. In this dissertation, we develop a
Lyapunov-based direct
adaptive and neural
adaptive control framework that
addresses parametric uncertainty, unstructured uncertainty, disturbance
rejection, amplitude and rate saturation constraints, and digital
implementation issues. Specifically, we consider the following research topics:
direct
adaptive control for nonlinear uncertain systems with exogenous
disturbances; robust
adaptive control for nonlinear uncertain systems;
adaptive
control for nonlinear uncertain systems with actuator amplitude and rate
saturation constraints;
adaptive reduced-order dynamic compensation for
nonlinear uncertain systems; direct
adaptive control for nonlinear matrix
second-order dynamical systems with state-dependent uncertainty;
adaptive
control for nonnegative and compartmental dynamical systems with applications
to general anesthesia; direct
adaptive control of nonnegative and compartmental
dynamical systems with time delay;
adaptive control for nonlinear nonnegative
and compartmental dynamical systems with applications to clinical pharmacology;
neural network
adaptive control for nonlinear nonnegative dynamical systems;
passivity-based neural network
adaptive output feedback
control for nonlinear
nonnegative dynamical systems; neural network
adaptive dynamic output feedback
control for nonlinear nonnegative systems using tapped delay memory units;
Lyapunov-based
adaptive control framework for discrete-time nonlinear systems
with exogenous disturbances; direct discrete-time
adaptive control with
guaranteed parameter error convergence; and
hybrid adaptive control for
nonlinear uncertain impulsive dynamical systems.
Advisors/Committee Members: Haddad, Wassim M. (Committee Chair), Bailey, James M. (Committee Member), Johnson, Eric N. (Committee Member), Prasad, J.V.R. (Committee Member), Taylor, David G. (Committee Member).
Subjects/Keywords: Clinical pharmacology; Hybrid systems; Nonnegative and compartmental systems; Nonlinear dynamical systems; Neural networks; Adaptive control; Automated anesthesia; Robust control; Nonlinear systems; Neural networks (Computer science); Adaptive control systems
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APA (6th Edition):
Hayakawa, T. (2003). Direct Adaptive Control for Nonlinear Uncertain Dynamical Systems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/5292
Chicago Manual of Style (16th Edition):
Hayakawa, Tomohisa. “Direct Adaptive Control for Nonlinear Uncertain Dynamical Systems.” 2003. Doctoral Dissertation, Georgia Tech. Accessed April 18, 2021.
http://hdl.handle.net/1853/5292.
MLA Handbook (7th Edition):
Hayakawa, Tomohisa. “Direct Adaptive Control for Nonlinear Uncertain Dynamical Systems.” 2003. Web. 18 Apr 2021.
Vancouver:
Hayakawa T. Direct Adaptive Control for Nonlinear Uncertain Dynamical Systems. [Internet] [Doctoral dissertation]. Georgia Tech; 2003. [cited 2021 Apr 18].
Available from: http://hdl.handle.net/1853/5292.
Council of Science Editors:
Hayakawa T. Direct Adaptive Control for Nonlinear Uncertain Dynamical Systems. [Doctoral Dissertation]. Georgia Tech; 2003. Available from: http://hdl.handle.net/1853/5292
28.
Mohy El Dine, Kamal.
Control of robotic mobile manipulators : application to civil engineering : Commande de manipulateurs mobiles robotisés : application au génie civil.
Degree: Docteur es, Electronique et Systèmes, 2019, Université Clermont Auvergne (2017-2020)
URL: http://www.theses.fr/2019CLFAC015
► Malgré le progrès de l'automatisation industrielle, les solutions robotiques ne sont pas encore couramment utilisées dans le secteur du génie civil. Plus spécifiquement, les tâches…
(more)
▼ Malgré le progrès de l'automatisation industrielle, les solutions robotiques ne sont pas encore couramment utilisées dans le secteur du génie civil. Plus spécifiquement, les tâches de ponçage, telles que le désamiantage, sont toujours effectuées par des opérateurs humains utilisant des outils électriques et hydrauliques classiques. Cependant, avec la diminution du coût relatif des machines par rapport au travail humain et les réglementations sanitaires strictes applicables à des travaux aussi risqués, les robots deviennent progressivement des alternatives crédibles pour automatiser ces tâches et remplacer les humains.Dans cette thèse, des nouvelles approches de contrôle de ponçage de surface sont élaborées. Le premier contrôleur est un contrôleur hybride position-force avec poignet conforme. Il est composé de 3 boucles de commande, force, position et admittance. La commutation entre les commandes pourrait créer des discontinuités, ce qui a été résolu en proposant une commande de transition. Dans ce contrôleur, la force de choc est réduite par la commande de transition proposée entre les modes espace libre et contact. Le second contrôleur est basé sur un modèle de ponçage développé et un contrôleur hybride adaptatif position-vitesse-force. Les contrôleurs sont validés expérimentalement sur un bras robotique à 7 degrés de liberté équipé d'une caméra et d'un capteur de force-couple. Les résultats expérimentaux montrent de bonnes performances et les contrôleurs sont prometteurs. De plus, une nouvelle approche pour contrôler la stabilité des manipulateurs mobiles en temps réel est présentée. Le contrôleur est basé sur le « zero moment point », il a été testé dans des simulations et il a été capable de maintenir activement la stabilité de basculement du manipulateur mobile tout en se déplaçant. En outre, les incertitudes liées à la modélisation et aux capteurs sont prises en compte dans les contrôleurs mentionnés où des observateurs sont proposés.Les détails du développement et de l'évaluation des différents contrôleurs proposés sont présentés, leurs mérites et leurs limites sont discutés et des travaux futurs sont suggérés.
Despite the advancements in industrial automation, robotic solutions are not yet commonly used in the civil engineering sector. More specifically, grinding tasks such as asbestos removal, are still performed by human operators using conventional electrical and hydraulic tools. However, with the decrease in the relative cost of machinery with respect to human labor and with the strict health regulations on such risky jobs, robots are progressively becoming credible alternatives to automate these tasks and replace humans.In this thesis, novel surface grinding control approaches are elaborated. The first controller is based on hybrid position-force controller with compliant wrist and a smooth switching strategy. In this controller, the impact force is reduced by the proposed smooth switching between free space and contact modes. The second controller is based on a developed grinding model and an…
Advisors/Committee Members: Fauroux, Jean-Christophe (thesis director), Mezouar, Youcef (thesis director).
Subjects/Keywords: Contrôle hybride vitesse-position-force; Contrôle adaptatif; Ponçage mural robotisé; Modèle de ponçage; Apprentissage en profondeur; Capteur de force-couple; Observateurs de perturbations; Manipulateurs mobiles; « Zero moment point »; Stabilité de basculement; Hybrid velocity-position-force control; Adaptive control; Robotic wall grinding; Grinding model; Deep learning; Force-torque sensor; Disturbance observers; Mobile manipulators; Zero-moment-point; Tip-over stability
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APA (6th Edition):
Mohy El Dine, K. (2019). Control of robotic mobile manipulators : application to civil engineering : Commande de manipulateurs mobiles robotisés : application au génie civil. (Doctoral Dissertation). Université Clermont Auvergne (2017-2020). Retrieved from http://www.theses.fr/2019CLFAC015
Chicago Manual of Style (16th Edition):
Mohy El Dine, Kamal. “Control of robotic mobile manipulators : application to civil engineering : Commande de manipulateurs mobiles robotisés : application au génie civil.” 2019. Doctoral Dissertation, Université Clermont Auvergne (2017-2020). Accessed April 18, 2021.
http://www.theses.fr/2019CLFAC015.
MLA Handbook (7th Edition):
Mohy El Dine, Kamal. “Control of robotic mobile manipulators : application to civil engineering : Commande de manipulateurs mobiles robotisés : application au génie civil.” 2019. Web. 18 Apr 2021.
Vancouver:
Mohy El Dine K. Control of robotic mobile manipulators : application to civil engineering : Commande de manipulateurs mobiles robotisés : application au génie civil. [Internet] [Doctoral dissertation]. Université Clermont Auvergne (2017-2020); 2019. [cited 2021 Apr 18].
Available from: http://www.theses.fr/2019CLFAC015.
Council of Science Editors:
Mohy El Dine K. Control of robotic mobile manipulators : application to civil engineering : Commande de manipulateurs mobiles robotisés : application au génie civil. [Doctoral Dissertation]. Université Clermont Auvergne (2017-2020); 2019. Available from: http://www.theses.fr/2019CLFAC015
29.
Kazemi, Hadi.
Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control.
Degree: PhD, Lane Department of Computer Science and Electrical Engineering, 2019, West Virginia University
URL: https://doi.org/10.33915/etd.3828
;
https://researchrepository.wvu.edu/etd/3828
► Information obtainable from Intelligent Transportation Systems (ITS) provides the possibility of improving the safety and efficiency of vehicles at different levels. In particular, such…
(more)
▼ Information obtainable from Intelligent Transportation Systems (ITS) provides the possibility of improving the safety and efficiency of vehicles at different levels. In particular, such information has the potential to be utilized for prediction of driving conditions and traffic flow, which allows us to improve the performance of the
control systems in different vehicular applications, such as
Hybrid Electric Vehicles (HEVs) powertrain
control and Cooperative
Adaptive Cruise
Control (CACC). In the first part of this work, we study the design of an MPC controller for a Cooperative
Adaptive Cruise
Control (CACC) system, which is an automated application that provides the drivers with extra benefits, such as traffic throughput maximization and collision avoidance. CACC systems must be designed in a way that are sufficiently robust against all special maneuvers such as interfering vehicles cutting-into the CACC platoons or hard braking by leading cars. To address this problem, we first propose a Neural- Network (NN)-based cut-in detection and trajectory prediction scheme. Then, the predicted trajectory of each vehicle in the adjacent lanes is used to estimate the probability of that vehicle cutting-into the CACC platoon. To consider the calculated probability in
control system decisions, a Stochastic Model Predictive Controller (SMPC) needs to be designed which incorporates this cut-in probability, and enhances the reaction against the detected dangerous cut-in maneuver. However, in this work, we propose an alternative way of solving this problem. We convert the SMPC problem into modeling the CACC as a Stochastic
Hybrid System (SHS) while we still use a deterministic MPC controller running in the only state of the SHS model. Finally, we find the conditions under which the designed deterministic controller is stable and feasible for the proposed SHS model of the CACC platoon. In the second part of this work, we propose to improve the performance of one of the most promising realtime powertrain
control strategies, called
Adaptive Equivalent Consumption Minimization Strategy (AECMS), using predicted driving conditions. In this part, two different real-time powertrain
control strategies are proposed for HEVs. The first proposed method, including three different variations, introduces an adjustment factor for the cost of using electrical energy (equivalent factor) in AECMS. The factor is proportional to the predicted energy requirements of the vehicle, regenerative braking energy, and the cost of battery charging and discharging in a finite time window. Simulation results using detailed vehicle powertrain models illustrate that the proposed
control strategies improve the performance of AECMS in terms of fuel economy by 4%. Finally, we integrate the recent development in reinforcement learning to design a novel multi-level power distribution
control. The proposed controller reacts in two levels, namely high-level and low-level
control. The high-level
control decision estimates the most probable driving profile matched to…
Advisors/Committee Members: Yaser P. Fallah, Parviz Famouri, Parviz Famouri.
Subjects/Keywords: Intelligent Transportation Systems; Hybrid Electric Vehicles; Powertrain Control; Cooperative Adaptive Cruise Control; Model Predictive Control; Controls and Control Theory; Navigation, Guidance, Control, and Dynamics
…2 Stochastic MPC Design for Cooperative Adaptive Cruise Control
Interfering Vehicle
2.1… …Hybrid Electric Vehicle Powertrain Control
3.1 Introduction… …applications, such as Cooperative Adaptive Cruise
Control (CACC).
Drivers are the most… …automatic braking
[12], adaptive cruise control [13, 14], efficiency [15… …and ease of driving. Similar to the ACC, Cooperative Adaptive
Cruise Control (CACC)…
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APA (6th Edition):
Kazemi, H. (2019). Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control. (Doctoral Dissertation). West Virginia University. Retrieved from https://doi.org/10.33915/etd.3828 ; https://researchrepository.wvu.edu/etd/3828
Chicago Manual of Style (16th Edition):
Kazemi, Hadi. “Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control.” 2019. Doctoral Dissertation, West Virginia University. Accessed April 18, 2021.
https://doi.org/10.33915/etd.3828 ; https://researchrepository.wvu.edu/etd/3828.
MLA Handbook (7th Edition):
Kazemi, Hadi. “Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control.” 2019. Web. 18 Apr 2021.
Vancouver:
Kazemi H. Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control. [Internet] [Doctoral dissertation]. West Virginia University; 2019. [cited 2021 Apr 18].
Available from: https://doi.org/10.33915/etd.3828 ; https://researchrepository.wvu.edu/etd/3828.
Council of Science Editors:
Kazemi H. Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control. [Doctoral Dissertation]. West Virginia University; 2019. Available from: https://doi.org/10.33915/etd.3828 ; https://researchrepository.wvu.edu/etd/3828
30.
Farhadi, Mustafa.
Hybrid Energy Storage Implementation in DC and AC Power System for Efficiency, Power Quality and Reliability Improvements.
Degree: PhD, Electrical Engineering, 2016, Florida International University
URL: https://digitalcommons.fiu.edu/etd/2471
;
10.25148/etd.FIDC000253
;
FIDC000253
► Battery storage devices have been widely utilized for different applications. However, for high power applications, battery storage systems come with several challenges, such as…
(more)
▼ Battery storage devices have been widely utilized for different applications. However, for high power applications, battery storage systems come with several challenges, such as the thermal issue, low power density, low life span and high cost. Compared with batteries, supercapacitors have a lower energy density but their power density is very high, and they offer higher cyclic life and efficiency even during fast charge and discharge processes. In this dissertation, new techniques for the
control and energy management of the
hybrid battery-supercapacitor storage system are developed to improve the performance of the system in terms of efficiency, power quality and reliability.
To evaluate the findings of this dissertation, a laboratory-scale DC microgrid system is designed and implemented. The developed microgrid utilizes a
hybrid lead-acid battery and supercapacitor energy storage system and is loaded under various grid conditions. The developed microgrid has also real-time monitoring,
control and energy management capabilities.
A new
control scheme and real-time energy management algorithm for an actively controlled
hybrid DC microgrid is developed to reduce the adverse impacts of pulsed power loads. The developed
control scheme is an
adaptive current-voltage controller that is based on the moving average measurement technique and an
adaptive proportional compensator. Unlike conventional energy
control methods, the developed controller has the advantages of controlling both current and voltage of the system. This development is experimentally tested and verified. The results show significant improvements achieved in terms of enhancing the system efficiency, reducing the AC grid voltage drop and mitigating frequency fluctuation.
Moreover, a novel event-based protection scheme for a multi-terminal DC power system has been developed and evaluated. In this technique, fault identification and classifications are performed based on the current derivative method and employing an artificial inductive line impedance. The developed scheme does not require high speed communication and synchronization and it transfers much less data when compared with the traditional method such as the differential protection approach. Moreover, this scheme utilizes less measurement equipment since only the DC bus data is required.
Advisors/Committee Members: Osama Mohammed, Arif Sarwat, Kinzy Jones, Sakhrat Khizroev, Mark J. Roberts.
Subjects/Keywords: hybrid dc microgrid; energy management system; battery; supercapacitor; protection; adaptive control; Electrical and Electronics; Power and Energy
…techniques for the control and energy
management of the hybrid battery-supercapacitor storage… …The developed control scheme is an adaptive current-voltage controller that is based
on the… …30
1.4.2. Real-time Control of Hybrid Power System… …98
x
3.9. Real-Time Control and Monitoring of the Hybrid DC power System… …99
REAL-TIME CONTROL AND ENERGY MANAGEMENT OF HYBRID DC
POWER SYSTEM…
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APA (6th Edition):
Farhadi, M. (2016). Hybrid Energy Storage Implementation in DC and AC Power System for Efficiency, Power Quality and Reliability Improvements. (Doctoral Dissertation). Florida International University. Retrieved from https://digitalcommons.fiu.edu/etd/2471 ; 10.25148/etd.FIDC000253 ; FIDC000253
Chicago Manual of Style (16th Edition):
Farhadi, Mustafa. “Hybrid Energy Storage Implementation in DC and AC Power System for Efficiency, Power Quality and Reliability Improvements.” 2016. Doctoral Dissertation, Florida International University. Accessed April 18, 2021.
https://digitalcommons.fiu.edu/etd/2471 ; 10.25148/etd.FIDC000253 ; FIDC000253.
MLA Handbook (7th Edition):
Farhadi, Mustafa. “Hybrid Energy Storage Implementation in DC and AC Power System for Efficiency, Power Quality and Reliability Improvements.” 2016. Web. 18 Apr 2021.
Vancouver:
Farhadi M. Hybrid Energy Storage Implementation in DC and AC Power System for Efficiency, Power Quality and Reliability Improvements. [Internet] [Doctoral dissertation]. Florida International University; 2016. [cited 2021 Apr 18].
Available from: https://digitalcommons.fiu.edu/etd/2471 ; 10.25148/etd.FIDC000253 ; FIDC000253.
Council of Science Editors:
Farhadi M. Hybrid Energy Storage Implementation in DC and AC Power System for Efficiency, Power Quality and Reliability Improvements. [Doctoral Dissertation]. Florida International University; 2016. Available from: https://digitalcommons.fiu.edu/etd/2471 ; 10.25148/etd.FIDC000253 ; FIDC000253
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Open Access Theses and Dissertations
