subject:(Systems AND control)

Baylor University

1. Gomes, Jason. Development and implementation of a Multi-Agent Control System for the Rankine Cycler Laboratory Teaching System.

Degree: M.S.E.C.E., Engineering., 2012, Baylor University

URL: http://hdl.handle.net/2104/8545

► One challenge faced by the engineering discipline in the near future is increased electric power demand coupled with greater efficiency requirements for power generation stations.… (more)

Subjects/Keywords: Control systems.

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APA (6^th Edition):

Gomes, J. (2012). Development and implementation of a Multi-Agent Control System for the Rankine Cycler Laboratory Teaching System. (Masters Thesis). Baylor University. Retrieved from http://hdl.handle.net/2104/8545

Chicago Manual of Style (16^th Edition):

Gomes, Jason. “Development and implementation of a Multi-Agent Control System for the Rankine Cycler Laboratory Teaching System.” 2012. Masters Thesis, Baylor University. Accessed March 06, 2021. http://hdl.handle.net/2104/8545.

MLA Handbook (7^th Edition):

Gomes, Jason. “Development and implementation of a Multi-Agent Control System for the Rankine Cycler Laboratory Teaching System.” 2012. Web. 06 Mar 2021.

Vancouver:

Gomes J. Development and implementation of a Multi-Agent Control System for the Rankine Cycler Laboratory Teaching System. [Internet] [Masters thesis]. Baylor University; 2012. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/2104/8545.

Council of Science Editors:

Gomes J. Development and implementation of a Multi-Agent Control System for the Rankine Cycler Laboratory Teaching System. [Masters Thesis]. Baylor University; 2012. Available from: http://hdl.handle.net/2104/8545

Delft University of Technology

2. Vos, Dirk (author). Embedded Control System for Calibrating Gas Analysers.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:aee8fa84-e3cc-4b77-bee6-d14b36ebae10

► This Thesis report will discuss the development of embedded control systems for process control (in this case for the calibration of a gas analyser). The… (more)

▼ This Thesis report will discuss the development of embedded control systems for process control (in this case for the calibration of a gas analyser). The main research question being: Which control algorithm will be able to achieve the most optimal calibration procedure? A calibration bench which will be used to create a specific condition (gas concentration, gas pressure, gas flow) for a gas analyser, so that it can be calibrated accurately. Embedded Systems usually suffer from low computation power and do not have a lot of resources available, so designing a control system for an embedded system will require some special attention. Designing a good controller is never an easy task, every single component needs to be chosen in a way to meet the requirements and ensure best performance. Controller design both programming/simulations and hardware development: both are important to get a good regulation, direct/linear and predictable actuation is needed. Therefore hardware design should make sure that reading sensors and actuating actuators do not suffer from big non linearities or delays. Software will make a big difference in the sense of: how efficient is the algorithm? Is it robust (what happens to the system when an error occurs, will it show unexpected behaviour or will it stay stable)? This report has been cut in 5 big pieces: hardware design, embedded software design, interface software design, model identification and controller design. Hardware design will elaborate on the electronic circuit design and the mechanical design of the pneumatics. Embedded software design will elaborate on the software written for the control board (which is responsible for regulating gas pressure and gas flow). Interface software design will show the development of the GUI (Graphical User Interface), so the user can interact with the calibration bench by simply clicking on buttons instead of working with a command line tool. Model identification will explain how to get a prediction model of the process out of the data of a set of carefully selected tests. Controller design will elaborate more on the control algorithms designed and how to use the prediction model found in model identification. Advisors/Committee Members: van Genderen, Arjan (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Control; Embedded; Embedded Systems; embedded systems; control; control system; control systems

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APA (6^th Edition):

Vos, D. (. (2018). Embedded Control System for Calibrating Gas Analysers. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:aee8fa84-e3cc-4b77-bee6-d14b36ebae10

Chicago Manual of Style (16^th Edition):

Vos, Dirk (author). “Embedded Control System for Calibrating Gas Analysers.” 2018. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:aee8fa84-e3cc-4b77-bee6-d14b36ebae10.

MLA Handbook (7^th Edition):

Vos, Dirk (author). “Embedded Control System for Calibrating Gas Analysers.” 2018. Web. 06 Mar 2021.

Vancouver:

Vos D(. Embedded Control System for Calibrating Gas Analysers. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:aee8fa84-e3cc-4b77-bee6-d14b36ebae10.

Council of Science Editors:

Vos D(. Embedded Control System for Calibrating Gas Analysers. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:aee8fa84-e3cc-4b77-bee6-d14b36ebae10

Rochester Institute of Technology

3. Marvin, Tim. Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms.

Degree: MS, Mechanical Engineering, 2013, Rochester Institute of Technology

URL: https://scholarworks.rit.edu/theses/8607

► In this thesis, a novel method for control of over- or under-actuated dynamic systems is developed. The primary control method considered here is Sliding… (more)

Subjects/Keywords: Control systems; Sliding mode control

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APA (6^th Edition):

Marvin, T. (2013). Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms. (Masters Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/8607

Chicago Manual of Style (16^th Edition):

Marvin, Tim. “Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms.” 2013. Masters Thesis, Rochester Institute of Technology. Accessed March 06, 2021. https://scholarworks.rit.edu/theses/8607.

MLA Handbook (7^th Edition):

Marvin, Tim. “Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms.” 2013. Web. 06 Mar 2021.

Vancouver:

Marvin T. Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms. [Internet] [Masters thesis]. Rochester Institute of Technology; 2013. [cited 2021 Mar 06]. Available from: https://scholarworks.rit.edu/theses/8607.

Council of Science Editors:

Marvin T. Sliding Mode Control of MIMO Non-Square Systems via Squaring Matrix Transforms. [Masters Thesis]. Rochester Institute of Technology; 2013. Available from: https://scholarworks.rit.edu/theses/8607

McMaster University

4. Homer, Tyler. ON THE STABILIZATION OF NONLINEAR CONTROL SYSTEMS SUBJECT TO STOCHASTIC DISTURBANCES AND INPUT CONSTRAINTS.

Degree: MASc, 2015, McMaster University

URL: http://hdl.handle.net/11375/17405

►

This thesis investigates the broad theme of guaranteeing the stability of nonlinear control systems. In the first section, we describe the application of discrete controller… (more)

Subjects/Keywords: Control Systems; Control Theory

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APA (6^th Edition):

Homer, T. (2015). ON THE STABILIZATION OF NONLINEAR CONTROL SYSTEMS SUBJECT TO STOCHASTIC DISTURBANCES AND INPUT CONSTRAINTS. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/17405

Chicago Manual of Style (16^th Edition):

Homer, Tyler. “ON THE STABILIZATION OF NONLINEAR CONTROL SYSTEMS SUBJECT TO STOCHASTIC DISTURBANCES AND INPUT CONSTRAINTS.” 2015. Masters Thesis, McMaster University. Accessed March 06, 2021. http://hdl.handle.net/11375/17405.

MLA Handbook (7^th Edition):

Homer, Tyler. “ON THE STABILIZATION OF NONLINEAR CONTROL SYSTEMS SUBJECT TO STOCHASTIC DISTURBANCES AND INPUT CONSTRAINTS.” 2015. Web. 06 Mar 2021.

Vancouver:

Homer T. ON THE STABILIZATION OF NONLINEAR CONTROL SYSTEMS SUBJECT TO STOCHASTIC DISTURBANCES AND INPUT CONSTRAINTS. [Internet] [Masters thesis]. McMaster University; 2015. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/11375/17405.

Council of Science Editors:

Homer T. ON THE STABILIZATION OF NONLINEAR CONTROL SYSTEMS SUBJECT TO STOCHASTIC DISTURBANCES AND INPUT CONSTRAINTS. [Masters Thesis]. McMaster University; 2015. Available from: http://hdl.handle.net/11375/17405

Oregon State University

5. Knudson, Matthew D. Applying hierarchical and adaptive control to coordinating simple robots.

Degree: MS, Mechanical Engineering, 2008, Oregon State University

URL: http://hdl.handle.net/1957/8289

► Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to… (more)

▼ Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task (e.g., navigation and locomotion). Though addressing both problems simultaneously with one algorithm is appealing, this is often difficult to impossible in domains requiring a combination of complex actions (goal selection, navigation, obstacle avoidance). This thesis establishes a hierarchical control structure, presents an adaptive navigation method, compares it to reactive navigation, and applies established adaptive coordination techniques under severe restrictions. The development and experimentation process produced results showing the following: 1) Hierarchical control structure proves effective and useful for use on resource limited robotic platforms allowing the subsequent navigation and coordination analyses to be addressed individually. 2) Adaptive navigation is an effective approach for dense environments with limited and noisy sensing, providing improvement over reactive navigation by up to 75%. 3) The application of an abstract difference objective function to training for coordination remains effective under limited information and physical robot motion restrictions, outperforming traditional system or local objectives by up to 50%. Specifically, this work establishes that neuro-evolutionary methods are applicable and beneficial both for the discovery of successful navigation techniques, as well as for the generation of coordination behavior in realistic multi-robot teams where individuals are strongly limited in sensing, communication, and computational ability. Possible extensions include increased levels of communication among individuals as well as configuring individual sensing abilities for heterogeneous teams. Advisors/Committee Members: Tumer, Kagan (advisor), Batten, Belinda (committee member).

Subjects/Keywords: adaptive control; Robots – Control systems

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APA (6^th Edition):

Knudson, M. D. (2008). Applying hierarchical and adaptive control to coordinating simple robots. (Masters Thesis). Oregon State University. Retrieved from http://hdl.handle.net/1957/8289

Chicago Manual of Style (16^th Edition):

Knudson, Matthew D. “Applying hierarchical and adaptive control to coordinating simple robots.” 2008. Masters Thesis, Oregon State University. Accessed March 06, 2021. http://hdl.handle.net/1957/8289.

MLA Handbook (7^th Edition):

Knudson, Matthew D. “Applying hierarchical and adaptive control to coordinating simple robots.” 2008. Web. 06 Mar 2021.

Vancouver:

Knudson MD. Applying hierarchical and adaptive control to coordinating simple robots. [Internet] [Masters thesis]. Oregon State University; 2008. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1957/8289.

Council of Science Editors:

Knudson MD. Applying hierarchical and adaptive control to coordinating simple robots. [Masters Thesis]. Oregon State University; 2008. Available from: http://hdl.handle.net/1957/8289

University of Notre Dame

6. Po Wu. Symmetry and Dissipativity in the Design of Large-Scale Complex Control Systems</h1>.

Degree: Electrical Engineering, 2013, University of Notre Dame

URL: https://curate.nd.edu/show/1z40ks67b4x

► In this dissertation, the notion of symmetry in dynamical control systems is studied. Large-scale dynamical systems present significant challenges to control design and analysis.… (more)

▼ In this dissertation, the notion of symmetry in dynamical control systems is studied. Large-scale dynamical systems present significant challenges to control design and analysis. The energy-based analysis methods, namely dissipativity and passivity theory, are studied with the presence of symmetry in system dynamics and interconnection structures. It is shown that symmetry is a powerful tool in preserving system properties and performances such as dissipativity, passivity, stability, robustness and controllability. In order to recognize the important role of symmetry in dynamical systems, background is first given on general definitions of symmetry for geometric control systems in Chapter 2. In addition, symmetry examples in nonlinear affine control systems and in multi-agent systems are also given. Chapter 3 discusses symmetry in multi-agent dissipative systems. Stability conditions are derived for large-scale systems by categorizing agents into symmetry groups and applying local control laws under limited interconnections with neighbors. Extensions on passivity results are presented in Chapter 4. Also the passivity indices are characterized for large-scale passive systems with symmetric interconnections. Approximate symmetry in terms of network effects is discussed in Chapter 5. Chapter 6 explores the relationship between symmetry and nonlinear controllability. Chapter 7 discusses experimental testing to determine the passivity indices using numerical optimization. Overall, this dissertation provides new approaches in analyzing and synthesizing large-scale dynamical control systems with regard to energy and input-output relationships, where symmetry property provides interesting results for system analysis and control design. Numerical simulations and illustrative examples are presented to demonstrate the practical usage and to motivate the theory. Advisors/Committee Members: Vijay Gupta, Committee Member, Bill Goodwine, Committee Member, Hai Lin, Committee Member, Panos Antsaklis, Committee Chair.

Subjects/Keywords: control systems; dissipative systems

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APA (6^th Edition):

Wu, P. (2013). Symmetry and Dissipativity in the Design of Large-Scale Complex Control Systems</h1>. (Thesis). University of Notre Dame. Retrieved from https://curate.nd.edu/show/1z40ks67b4x

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

Chicago Manual of Style (16^th Edition):

Wu, Po. “Symmetry and Dissipativity in the Design of Large-Scale Complex Control Systems</h1>.” 2013. Thesis, University of Notre Dame. Accessed March 06, 2021. https://curate.nd.edu/show/1z40ks67b4x.

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

MLA Handbook (7^th Edition):

Wu, Po. “Symmetry and Dissipativity in the Design of Large-Scale Complex Control Systems</h1>.” 2013. Web. 06 Mar 2021.

Vancouver:

Wu P. Symmetry and Dissipativity in the Design of Large-Scale Complex Control Systems</h1>. [Internet] [Thesis]. University of Notre Dame; 2013. [cited 2021 Mar 06]. Available from: https://curate.nd.edu/show/1z40ks67b4x.

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

Council of Science Editors:

Wu P. Symmetry and Dissipativity in the Design of Large-Scale Complex Control Systems</h1>. [Thesis]. University of Notre Dame; 2013. Available from: https://curate.nd.edu/show/1z40ks67b4x

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

Georgia Tech

7. Ainsworth, Nathan Grey. Towards a distributed control regime for robust synchronization and power sharing of inverter-based ac power networks.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/53985

► The objective of the proposed research is 1) to develop a general dynamic condition sufficient to ensure frequency synchronization of inverter-based AC power networks, and… (more)

Subjects/Keywords: Power systems; Control systems

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APA (6^th Edition):

Ainsworth, N. G. (2014). Towards a distributed control regime for robust synchronization and power sharing of inverter-based ac power networks. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53985

Chicago Manual of Style (16^th Edition):

Ainsworth, Nathan Grey. “Towards a distributed control regime for robust synchronization and power sharing of inverter-based ac power networks.” 2014. Doctoral Dissertation, Georgia Tech. Accessed March 06, 2021. http://hdl.handle.net/1853/53985.

MLA Handbook (7^th Edition):

Ainsworth, Nathan Grey. “Towards a distributed control regime for robust synchronization and power sharing of inverter-based ac power networks.” 2014. Web. 06 Mar 2021.

Vancouver:

Ainsworth NG. Towards a distributed control regime for robust synchronization and power sharing of inverter-based ac power networks. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1853/53985.

Council of Science Editors:

Ainsworth NG. Towards a distributed control regime for robust synchronization and power sharing of inverter-based ac power networks. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/53985

University of Pretoria

8. [No author]. Modelling and control of an electric arc furnace off-gas process .

Degree: 2008, University of Pretoria

URL: http://upetd.up.ac.za/thesis/available/etd-05192008-101727/

Subjects/Keywords: Control systems; UCTD

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APA (6^th Edition):

author], [. (2008). Modelling and control of an electric arc furnace off-gas process . (Masters Thesis). University of Pretoria. Retrieved from http://upetd.up.ac.za/thesis/available/etd-05192008-101727/

Chicago Manual of Style (16^th Edition):

author], [No. “Modelling and control of an electric arc furnace off-gas process .” 2008. Masters Thesis, University of Pretoria. Accessed March 06, 2021. http://upetd.up.ac.za/thesis/available/etd-05192008-101727/.

MLA Handbook (7^th Edition):

author], [No. “Modelling and control of an electric arc furnace off-gas process .” 2008. Web. 06 Mar 2021.

Vancouver:

author] [. Modelling and control of an electric arc furnace off-gas process . [Internet] [Masters thesis]. University of Pretoria; 2008. [cited 2021 Mar 06]. Available from: http://upetd.up.ac.za/thesis/available/etd-05192008-101727/.

Council of Science Editors:

author] [. Modelling and control of an electric arc furnace off-gas process . [Masters Thesis]. University of Pretoria; 2008. Available from: http://upetd.up.ac.za/thesis/available/etd-05192008-101727/

University of Pretoria

9. Bekker, Johannes Gerhardt. Modelling and control of an electric arc furnace off-gas process.

Degree: Electrical, Electronic and Computer Engineering, 2008, University of Pretoria

URL: http://hdl.handle.net/2263/24814

Subjects/Keywords: Control systems; UCTD

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APA (6^th Edition):

Bekker, J. (2008). Modelling and control of an electric arc furnace off-gas process. (Masters Thesis). University of Pretoria. Retrieved from http://hdl.handle.net/2263/24814

Chicago Manual of Style (16^th Edition):

Bekker, Johannes. “Modelling and control of an electric arc furnace off-gas process.” 2008. Masters Thesis, University of Pretoria. Accessed March 06, 2021. http://hdl.handle.net/2263/24814.

MLA Handbook (7^th Edition):

Bekker, Johannes. “Modelling and control of an electric arc furnace off-gas process.” 2008. Web. 06 Mar 2021.

Vancouver:

Bekker J. Modelling and control of an electric arc furnace off-gas process. [Internet] [Masters thesis]. University of Pretoria; 2008. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/2263/24814.

Council of Science Editors:

Bekker J. Modelling and control of an electric arc furnace off-gas process. [Masters Thesis]. University of Pretoria; 2008. Available from: http://hdl.handle.net/2263/24814

University of Nairobi

10. Kamau, Peter N. Survey of internal control systems among the listed private companies and the public sector companies in Kenya .

Degree: 2011, University of Nairobi

URL: http://erepository.uonbi.ac.ke:8080/xmlui/handle/123456789/12867

► Internal control serves many important purposes. There are increasing calls for better internal control systems and report cards on them. Internal control is looked upon… (more)

▼ Internal control serves many important purposes. There are increasing calls for better internal control systems and report cards on them. Internal control is looked upon more and more as a solution to a variety of potential problems that touches on the effectiveness and efficiency of an organization. The financial reporting and corporate governance arenas have been in an uproar. Some external actions through the Nairobi Stock Exchange as well as professional association e.g. ICPAK and regulatory bodies e.g. Capital Market Authority (CMA) and Central bank of Kenya (CBK) are attempting to regain trust and stability in the financial markets. One of the strongest means to monitor financial reporting, ethics, and governance is implementing a strong internal control system. Internal control can ensure the reliability of financial reporting and compliance with laws and regulations. However, an internal control system, no matter how well conceived and operated, can provide only reasonable – not absolute – assurance to management and the board regarding achievement of an entity's objectives. This research is a study of internal control system in the public and private sector. The main objective of the study is to find out the practice in regard to design and implementation of internal control systems in the private and the public sector and whether there is any difference in effectiveness and efficiency as the result. The research focused on the key components of internal control systems namely control environment, risk assessment, control procedures, information and communication and finally monitoring. The study explored the designs of the respective sectors to find out if their similarities and difference. Data of this study was collected by questionnaires and focused group discussion. The data collected was analyzed by use of descriptive and inferential statistics. Frequency tables and graphs were used to present the results of this study. The results of this study showed that the private sector compared to the public sector has a strong internal control system than the public sector in all the component of internal control However the public sector and private sector do not have a significant difference in monitoring and control activities and the public sector even has stronger elements of preventive controls. Thus Public sector should enhance the design of internal control in control environment, risk assessment, monitoring and information control components while the private sector should enhance design of control activities

Subjects/Keywords: Internal control systems

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APA (6^th Edition):

Kamau, P. N. (2011). Survey of internal control systems among the listed private companies and the public sector companies in Kenya . (Thesis). University of Nairobi. Retrieved from http://erepository.uonbi.ac.ke:8080/xmlui/handle/123456789/12867

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

Chicago Manual of Style (16^th Edition):

Kamau, Peter N. “Survey of internal control systems among the listed private companies and the public sector companies in Kenya .” 2011. Thesis, University of Nairobi. Accessed March 06, 2021. http://erepository.uonbi.ac.ke:8080/xmlui/handle/123456789/12867.

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

MLA Handbook (7^th Edition):

Kamau, Peter N. “Survey of internal control systems among the listed private companies and the public sector companies in Kenya .” 2011. Web. 06 Mar 2021.

Vancouver:

Kamau PN. Survey of internal control systems among the listed private companies and the public sector companies in Kenya . [Internet] [Thesis]. University of Nairobi; 2011. [cited 2021 Mar 06]. Available from: http://erepository.uonbi.ac.ke:8080/xmlui/handle/123456789/12867.

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

Council of Science Editors:

Kamau PN. Survey of internal control systems among the listed private companies and the public sector companies in Kenya . [Thesis]. University of Nairobi; 2011. Available from: http://erepository.uonbi.ac.ke:8080/xmlui/handle/123456789/12867

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

University of Technology, Sydney

11. Baig, JA. Comparative study and analysis of control design on industrial boiler with different control techniques.

Degree: 2011, University of Technology, Sydney

URL: http://hdl.handle.net/10453/29531

► Today, power Industry is facing challenges in maintaining their processes economical and emissions low. Need arise in this regard is to reconsider the operational philosophies… (more)

Subjects/Keywords: Boilers.; Control systems.

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APA (6^th Edition):

Baig, J. (2011). Comparative study and analysis of control design on industrial boiler with different control techniques. (Thesis). University of Technology, Sydney. Retrieved from http://hdl.handle.net/10453/29531

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

Chicago Manual of Style (16^th Edition):

Baig, JA. “Comparative study and analysis of control design on industrial boiler with different control techniques.” 2011. Thesis, University of Technology, Sydney. Accessed March 06, 2021. http://hdl.handle.net/10453/29531.

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

MLA Handbook (7^th Edition):

Baig, JA. “Comparative study and analysis of control design on industrial boiler with different control techniques.” 2011. Web. 06 Mar 2021.

Vancouver:

Baig J. Comparative study and analysis of control design on industrial boiler with different control techniques. [Internet] [Thesis]. University of Technology, Sydney; 2011. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10453/29531.

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

Council of Science Editors:

Baig J. Comparative study and analysis of control design on industrial boiler with different control techniques. [Thesis]. University of Technology, Sydney; 2011. Available from: http://hdl.handle.net/10453/29531

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

Delft University of Technology

12. Bachnas, A.A. (author). Linear Parameter Varying Modeling of a High-Purity Distillation Column.

Degree: 2012, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:ac65d09e-1403-40c4-9a0d-7b643ccf4c47

►

One of the main reasons for the success story of Proportional-Integral-Derivative (PID) control in process industries has been the difficulty and complexity of modeling chemical,… (more)

▼

One of the main reasons for the success story of Proportional-Integral-Derivative (PID) control in process industries has been the difficulty and complexity of modeling chemical, thermal, and physical phenomena in these systems. Linear Time-Invariant (LTI) identification has been found incapable to accurately capture the dynamics in these applications over the entire operating region, while nonlinear identification methods still often result in over-laborious and expensive process modeling tools with a too complex model for control synthesis. The concept of data-driven Linear Parameter-Varying (LPV) modeling offers an in-between-solution over LTI and nonlinear identification by describing the signal relations in a linear manner which vary with the operating point of the system. Furthermore, the LPV modeling and control framework is considered to have the potential to become the long-waited solution for the modeling and control problems of the process field. Through the case study of Propane-Propene splitter, which is a commonly used high-purity distillation column, this thesis explores the potential of LPV modeling and identification for process systems. Importantly, the PP-splitter represents a particularly challenging process system due to its Multiple-Input Multiple-Output (MIMO) nature and significant nonlinear behavior in the high-purity operating region. The results presented in this thesis shows that, although such a system could impose problems for local LPV identification approaches (identification w.r.t. constant operating conditions), the application of global LPV identification (identification w.r.t. varying operating conditions) has found to be able to identify the dynamics of the system even under severe noise conditions. Moreover, the global methodology presented in this thesis, which is called the LPV Least-Square Support Vector Machine (LS-SVM), belongs to an emerging trend of novel approaches which adopt machine learning theories in the system identification. This method is the current state-of-the-art among such learning approaches in the LPV identification framework.

Delft Center for Systems and Control

Mechanical, Maritime and Materials Engineering

Advisors/Committee Members: Toth, R. (mentor), Mesbah, A. (mentor), Van den Hof, P.M.J. (mentor).

Subjects/Keywords: systems and control

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APA (6^th Edition):

Bachnas, A. A. (. (2012). Linear Parameter Varying Modeling of a High-Purity Distillation Column. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ac65d09e-1403-40c4-9a0d-7b643ccf4c47

Chicago Manual of Style (16^th Edition):

Bachnas, A A (author). “Linear Parameter Varying Modeling of a High-Purity Distillation Column.” 2012. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:ac65d09e-1403-40c4-9a0d-7b643ccf4c47.

MLA Handbook (7^th Edition):

Bachnas, A A (author). “Linear Parameter Varying Modeling of a High-Purity Distillation Column.” 2012. Web. 06 Mar 2021.

Vancouver:

Bachnas AA(. Linear Parameter Varying Modeling of a High-Purity Distillation Column. [Internet] [Masters thesis]. Delft University of Technology; 2012. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:ac65d09e-1403-40c4-9a0d-7b643ccf4c47.

Council of Science Editors:

Bachnas AA(. Linear Parameter Varying Modeling of a High-Purity Distillation Column. [Masters Thesis]. Delft University of Technology; 2012. Available from: http://resolver.tudelft.nl/uuid:ac65d09e-1403-40c4-9a0d-7b643ccf4c47

University of Illinois – Urbana-Champaign

13. Hirzallah, Nabil H. K. Security of cyber-physical systems: A control-theoretic perspective.

Degree: PhD, Electrical & Computer Engr, 2018, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/102434

► Motivated by the attacks on control systems through the cyber (digital) part, we study how signal attacks injected through actuators and/or sensors affect control system… (more)

Subjects/Keywords: Security; Control Systems

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APA (6^th Edition):

Hirzallah, N. H. K. (2018). Security of cyber-physical systems: A control-theoretic perspective. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/102434

Chicago Manual of Style (16^th Edition):

Hirzallah, Nabil H K. “Security of cyber-physical systems: A control-theoretic perspective.” 2018. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 06, 2021. http://hdl.handle.net/2142/102434.

MLA Handbook (7^th Edition):

Hirzallah, Nabil H K. “Security of cyber-physical systems: A control-theoretic perspective.” 2018. Web. 06 Mar 2021.

Vancouver:

Hirzallah NHK. Security of cyber-physical systems: A control-theoretic perspective. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2018. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/2142/102434.

Council of Science Editors:

Hirzallah NHK. Security of cyber-physical systems: A control-theoretic perspective. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2018. Available from: http://hdl.handle.net/2142/102434

Hong Kong University of Science and Technology

14. Kim, Chung Hee ECE. Methods and designs for dexterous robotic insertion and placement.

Degree: 2020, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-104989 ; https://doi.org/10.14711/thesis-991012818169503412 ; http://repository.ust.hk/ir/bitstream/1783.1-104989/1/th_redirect.html

► This thesis presents methods and designs for dexterous robotic insertion and placement, particularly suitable for objects with a thin form-factor. Firstly, we devise a novel… (more)

Subjects/Keywords: Robots ; Control systems

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

APA (6^th Edition):

Kim, C. H. E. (2020). Methods and designs for dexterous robotic insertion and placement. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-104989 ; https://doi.org/10.14711/thesis-991012818169503412 ; http://repository.ust.hk/ir/bitstream/1783.1-104989/1/th_redirect.html

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

Chicago Manual of Style (16^th Edition):

Kim, Chung Hee ECE. “Methods and designs for dexterous robotic insertion and placement.” 2020. Thesis, Hong Kong University of Science and Technology. Accessed March 06, 2021. http://repository.ust.hk/ir/Record/1783.1-104989 ; https://doi.org/10.14711/thesis-991012818169503412 ; http://repository.ust.hk/ir/bitstream/1783.1-104989/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Kim, Chung Hee ECE. “Methods and designs for dexterous robotic insertion and placement.” 2020. Web. 06 Mar 2021.

Vancouver:

Kim CHE. Methods and designs for dexterous robotic insertion and placement. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2020. [cited 2021 Mar 06]. Available from: http://repository.ust.hk/ir/Record/1783.1-104989 ; https://doi.org/10.14711/thesis-991012818169503412 ; http://repository.ust.hk/ir/bitstream/1783.1-104989/1/th_redirect.html.

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

Council of Science Editors:

Kim CHE. Methods and designs for dexterous robotic insertion and placement. [Thesis]. Hong Kong University of Science and Technology; 2020. Available from: http://repository.ust.hk/ir/Record/1783.1-104989 ; https://doi.org/10.14711/thesis-991012818169503412 ; http://repository.ust.hk/ir/bitstream/1783.1-104989/1/th_redirect.html

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

Hong Kong University of Science and Technology

15. Yue, Zuogong. Logic and event based switching control.

Degree: 2013, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-62364 ; https://doi.org/10.14711/thesis-b1256207 ; http://repository.ust.hk/ir/bitstream/1783.1-62364/1/th_redirect.html

► With years of work on control systems, lots of control tools have been created for automation in different situations. Adaptive Control was developed for the… (more)

▼ With years of work on control systems, lots of control tools have been created for automation in different situations. Adaptive Control was developed for the models with unidentified but slow-varying parameters. Aiming to guarantee the stability of control systems in presence of modeling uncertainties or disturbance, Robust Control originated from methods to optimizing both performance and robustness of systems. Nevertheless, transit performance of systems remains a big problem, no matter in Adaptive Control or Robust Control. Switching/Supervisory Control was proposed to improve transit performance by adopting the most appropriate among multiple candidate controllers. After A. S. Morse established a relatively general switching scheme by introducing a concept called “weighted signals”, people tried many ways to explore more effective switching logics. The first contribution in this dissertation follows the mainstream of switching control, which covers existence and construction of multi-controllers, design of supervisors and proof of input-to-state stability based on the general theory of average dwell-time. Compared with previous work, two points deserve emphases: 1) A more general contructive method for multi-controllers, which generalizes the parametric uncertainty from scalar variables to vectors; 2) A structure of supervisor directly based on tracking errors, instead of “weighted signals”, and its input-to-state stability is guaranteed and proven. Nevertheless, logic-based switching control with finite controller coverings is only capable to partially improve performance. Such effects of improvement are not fully under our control due to potentially complicated theoretical issues. Instead of emphasizing stability in control design, the second contribution of this dissertation is the “logic-event based switching control”, which heavily relies on controllability to drag states to the positions we expected. And with a new supervisory architecture developed, switching control with on-line controller updates becomes possible to be implemented and satisfactory transit performance follows. Moreover, in order to show the advantages of the core principles, simulation and experimental results were presented in this dissertation. In a sum, the work in this dissertation presented advancement in both current area and extensions of switching control. Considering the “logic-event based switching control”, it would prove to be a promising direction in the future studies.

Subjects/Keywords: Automatic control ; Adaptive control systems ; Robust control

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

APA (6^th Edition):

Yue, Z. (2013). Logic and event based switching control. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-62364 ; https://doi.org/10.14711/thesis-b1256207 ; http://repository.ust.hk/ir/bitstream/1783.1-62364/1/th_redirect.html

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

Chicago Manual of Style (16^th Edition):

Yue, Zuogong. “Logic and event based switching control.” 2013. Thesis, Hong Kong University of Science and Technology. Accessed March 06, 2021. http://repository.ust.hk/ir/Record/1783.1-62364 ; https://doi.org/10.14711/thesis-b1256207 ; http://repository.ust.hk/ir/bitstream/1783.1-62364/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Yue, Zuogong. “Logic and event based switching control.” 2013. Web. 06 Mar 2021.

Vancouver:

Yue Z. Logic and event based switching control. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2013. [cited 2021 Mar 06]. Available from: http://repository.ust.hk/ir/Record/1783.1-62364 ; https://doi.org/10.14711/thesis-b1256207 ; http://repository.ust.hk/ir/bitstream/1783.1-62364/1/th_redirect.html.

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

Council of Science Editors:

Yue Z. Logic and event based switching control. [Thesis]. Hong Kong University of Science and Technology; 2013. Available from: http://repository.ust.hk/ir/Record/1783.1-62364 ; https://doi.org/10.14711/thesis-b1256207 ; http://repository.ust.hk/ir/bitstream/1783.1-62364/1/th_redirect.html

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

University of Johannesburg

16. Schepers, Gideon Gustaf. The development of a multi-input-single-output fuzzy logic greenhouse controller.

Degree: 2012, University of Johannesburg

URL: http://hdl.handle.net/10210/7272

►

M.Ing.

Fuzzy controllers are increasingly being accepted by engineers and scientists alike as a viable alternative for classical controllers. The processes involved in fuzzy controllers… (more)

Subjects/Keywords: Feedback control systems; Control systems; Fuzzy systems; Fuzzy logic

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

APA (6^th Edition):

Schepers, G. G. (2012). The development of a multi-input-single-output fuzzy logic greenhouse controller. (Thesis). University of Johannesburg. Retrieved from http://hdl.handle.net/10210/7272

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

Chicago Manual of Style (16^th Edition):

Schepers, Gideon Gustaf. “The development of a multi-input-single-output fuzzy logic greenhouse controller.” 2012. Thesis, University of Johannesburg. Accessed March 06, 2021. http://hdl.handle.net/10210/7272.

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

MLA Handbook (7^th Edition):

Schepers, Gideon Gustaf. “The development of a multi-input-single-output fuzzy logic greenhouse controller.” 2012. Web. 06 Mar 2021.

Vancouver:

Schepers GG. The development of a multi-input-single-output fuzzy logic greenhouse controller. [Internet] [Thesis]. University of Johannesburg; 2012. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10210/7272.

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

Council of Science Editors:

Schepers GG. The development of a multi-input-single-output fuzzy logic greenhouse controller. [Thesis]. University of Johannesburg; 2012. Available from: http://hdl.handle.net/10210/7272

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

University of Notre Dame

17. Feng Zhu. Passivity Analysis and Passivation in the Design of Cyber-Physical Systems</h1>.

Degree: Electrical Engineering, 2014, University of Notre Dame

URL: https://curate.nd.edu/show/47429882r2h

► This dissertation focuses on the analysis and control of cyber-physical systems (CPS) using dissipativity and passivity theory. Cyber-physical systems, as a new generation of… (more)

▼ This dissertation focuses on the analysis and control of cyber-physical systems (CPS) using dissipativity and passivity theory. Cyber-physical systems, as a new generation of systems with integrated computational and physical capabilities, present significant challenges in control design and analysis, due to non-traditional modeling, uncertain environment and highly coupled discrete-event and continuous-time dynamics. On the other hand, it is well known that passive and dissipative systems have modeling, compositionality advantages and stability-guaranteed performance, which are desirable requirements in CPS design. However, it is not straightforward to apply dissipativity and passivity theory to CPS directly in general. The main contribution of this dissertation is to provide systematic and computational methods of passivity analysis and passivation for continuous, networked and hybrid dynamical systems, which provide modeling foundations for CPS. These methods are originally developed for classical nonlinear systems. They include passivity analysis and passivation for interconnected systems using passivity indices and a transformation-based passivation scheme for individual systems. Later, it is shown that the proposed methods can address the issues in the design of CPS, by considering hybrid systems and networked control systems (NCS), respectively. For hybrid systems, the transformation-based passivation scheme provides valuable results on preserving passivity of switched systems under quantization. For networked control systems, the problems of passivity analysis and passivation using passivity indices for interconnected event-triggered feedback systems are investigated. The co-design of passivity levels and event-triggering conditions demonstrates how the trade off between required passivity levels and communication resource utilization can be achieved in NCS. Overall, this dissertation provides new approaches to passivity analysis and passivation of CPS with the focus being on hybrid systems and networked control systems. Numerical simulations and relevant examples are also provided to demonstrate the practical applications of these methods. Advisors/Committee Members: Vijay Gupta, Committee Member, Peter H. Bauer, Committee Member, Hai Lin, Committee Member, Panos J. Antsaklis, Committee Chair.

Subjects/Keywords: cyber-physical systems; passivity-based control; networked control systems; hybrid systems

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APA (6^th Edition):

Zhu, F. (2014). Passivity Analysis and Passivation in the Design of Cyber-Physical Systems</h1>. (Thesis). University of Notre Dame. Retrieved from https://curate.nd.edu/show/47429882r2h

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

Chicago Manual of Style (16^th Edition):

Zhu, Feng. “Passivity Analysis and Passivation in the Design of Cyber-Physical Systems</h1>.” 2014. Thesis, University of Notre Dame. Accessed March 06, 2021. https://curate.nd.edu/show/47429882r2h.

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

MLA Handbook (7^th Edition):

Zhu, Feng. “Passivity Analysis and Passivation in the Design of Cyber-Physical Systems</h1>.” 2014. Web. 06 Mar 2021.

Vancouver:

Zhu F. Passivity Analysis and Passivation in the Design of Cyber-Physical Systems</h1>. [Internet] [Thesis]. University of Notre Dame; 2014. [cited 2021 Mar 06]. Available from: https://curate.nd.edu/show/47429882r2h.

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

Council of Science Editors:

Zhu F. Passivity Analysis and Passivation in the Design of Cyber-Physical Systems</h1>. [Thesis]. University of Notre Dame; 2014. Available from: https://curate.nd.edu/show/47429882r2h

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

University of Newcastle

18. Kong, He. A unified approach to linear design and predictive control of constrained systems.

Degree: MPC) for linear systems from a design perspective. Our focus is on establishing a unified approach of linear design methods and MPC so that the benefits of the two can be obtained in a well-defined way for practical applications. For this purpose, we have considered the design question from both the control and communication point of view. On the control side, starting from a basic assumption that an unconstrained pre-stabilizing controller is available, we have considered several closely-related issues. Specifically, we have proposed novel tuning techniques so that an MPC controller can either replace an existing controller or gradually improve the control performance based on the latter. We have presented a detailed stability proof for these techniques. In this thesis we have also discussed the role of the observer in robust MPC. As such, we have considered systems with unstructured uncertainty and presented some design methods of robust policies. We have shown via theoretical analysis and numerical simulation that the choice of the observer makes a key difference in the resulting closed-loop performance. On the communication side, we have presented a sparse communication strategy for networked control systems (NCS) based on the singular value decomposition (SVD, a well-defined way for practical applications. For this purpose, we have considered the design question from both the control and communication point of view. On the control side, starting from a basic assumption that an unconstrained pre-stabilizing controller is available, we have considered several closely-related issues. Specifically, we have proposed novel tuning techniques so that an MPC controller can either replace an existing controller or gradually improve the control performance based on the latter. We have presented a detailed stability proof for these techniques. In this thesis we have also discussed the role of the observer in robust MPC. As such, we have considered systems with unstructured uncertainty and presented some design methods of robust policies. We have shown via theoretical analysis and numerical simulation that the choice of the observer makes a key difference in the resulting closed-loop performance. On the communication side, we have presented a sparse communication strategy for networked control systems (NCS) based on the singular value decomposition (SVD, 2014, University of Newcastle

URL: http://hdl.handle.net/1959.13/1055900

►

Research Doctorate - Electrical Engineering

This thesis studies the use of model predictive control (MPC) for linear systems from a design perspective. Our focus is… (more)

▼

Research Doctorate - Electrical Engineering

This thesis studies the use of model predictive control (MPC) for linear systems from a design perspective. Our focus is on establishing a unified approach of linear design methods and MPC so that the benefits of the two can be obtained in a well-defined way for practical applications. For this purpose, we have considered the design question from both the control and communication point of view. On the control side, starting from a basic assumption that an unconstrained pre-stabilizing controller is available, we have considered several closely-related issues. Specifically, we have proposed novel tuning techniques so that an MPC controller can either replace an existing controller or gradually improve the control performance based on the latter. We have presented a detailed stability proof for these techniques. In this thesis we have also discussed the role of the observer in robust MPC. As such, we have considered systems with unstructured uncertainty and presented some design methods of robust policies. We have shown via theoretical analysis and numerical simulation that the choice of the observer makes a key difference in the resulting closed-loop performance. On the communication side, we have presented a sparse communication strategy for networked control systems (NCS) based on the singular value decomposition (SVD) of the Hessian of the quadratic performance index generally considered in MPC and the unconstrained optimal controller. The singular vectors are employed to generate an orthonormal basis function expansion of the unconstrained solution to the infinite horizon optimal control problem. The proposed control law is deduced from the former unconstrained controller based on cost reduction consideration. We have presented a thorough study of the associated stability analysis and have shown the advantages of the proposed method via simulation studies.

Advisors/Committee Members: University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science.

Subjects/Keywords: model predictive control; constrained control; robust control; networked control systems

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

APA (6^th Edition):

Kong, H. (2014). A unified approach to linear design and predictive control of constrained systems. (Doctoral Dissertation). University of Newcastle. Retrieved from http://hdl.handle.net/1959.13/1055900

Chicago Manual of Style (16^th Edition):

Kong, He. “A unified approach to linear design and predictive control of constrained systems.” 2014. Doctoral Dissertation, University of Newcastle. Accessed March 06, 2021. http://hdl.handle.net/1959.13/1055900.

MLA Handbook (7^th Edition):

Kong, He. “A unified approach to linear design and predictive control of constrained systems.” 2014. Web. 06 Mar 2021.

Vancouver:

Kong H. A unified approach to linear design and predictive control of constrained systems. [Internet] [Doctoral dissertation]. University of Newcastle; 2014. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1959.13/1055900.

Council of Science Editors:

Kong H. A unified approach to linear design and predictive control of constrained systems. [Doctoral Dissertation]. University of Newcastle; 2014. Available from: http://hdl.handle.net/1959.13/1055900

University of Johannesburg

19. Putter, Estelle. Multi-variable control techniques for greenhouses.

Degree: 2012, University of Johannesburg

URL: http://hdl.handle.net/10210/5421

►

M.Ing.

This research project is dedicated to the automation of environmental control within greenhouses. To create an optimal climate in the greenhouse, the main environmental… (more)

Subjects/Keywords: Feedback control systems.; Automatic control.; Greenhouses

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APA (6^th Edition):

Putter, E. (2012). Multi-variable control techniques for greenhouses. (Thesis). University of Johannesburg. Retrieved from http://hdl.handle.net/10210/5421

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

Chicago Manual of Style (16^th Edition):

Putter, Estelle. “Multi-variable control techniques for greenhouses.” 2012. Thesis, University of Johannesburg. Accessed March 06, 2021. http://hdl.handle.net/10210/5421.

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

MLA Handbook (7^th Edition):

Putter, Estelle. “Multi-variable control techniques for greenhouses.” 2012. Web. 06 Mar 2021.

Vancouver:

Putter E. Multi-variable control techniques for greenhouses. [Internet] [Thesis]. University of Johannesburg; 2012. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10210/5421.

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

Council of Science Editors:

Putter E. Multi-variable control techniques for greenhouses. [Thesis]. University of Johannesburg; 2012. Available from: http://hdl.handle.net/10210/5421

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

KTH

20. Knöös, Johan. Control of a Reusable Launch Vehicle.

Degree: Mathematics (Dept.), 2011, KTH

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-43837

► Abstrakt: This report examines different control design methods, linear as well as nonlinear, for a suborbital reusable launch vehicle. An investigation of the natural… (more)

Subjects/Keywords: Flight control systems; nonlinear control; global optimization

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APA (6^th Edition):

Knöös, J. (2011). Control of a Reusable Launch Vehicle. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-43837

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

Chicago Manual of Style (16^th Edition):

Knöös, Johan. “Control of a Reusable Launch Vehicle.” 2011. Thesis, KTH. Accessed March 06, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-43837.

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

MLA Handbook (7^th Edition):

Knöös, Johan. “Control of a Reusable Launch Vehicle.” 2011. Web. 06 Mar 2021.

Vancouver:

Knöös J. Control of a Reusable Launch Vehicle. [Internet] [Thesis]. KTH; 2011. [cited 2021 Mar 06]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-43837.

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

Council of Science Editors:

Knöös J. Control of a Reusable Launch Vehicle. [Thesis]. KTH; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-43837

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

Delft University of Technology

21. Moustakis, Nikolaos (author). Adaptive quantized control for uncertain networked systems.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323

► Major advancements over the last few decades in communication networks gave rise to the new paradigm of Networked Control Systems (NCSs). Within this paradigm, sensing… (more)

▼ Major advancements over the last few decades in communication networks gave rise to the new paradigm of Networked Control Systems (NCSs). Within this paradigm, sensing and actuation signals are exchanged among various parts of a single system or among many subsystems via communication networks. Although this enables one to perform more complex tasks than traditional control paradigms, it comes at the cost of complicating the design phase and the required analysis tools. One of the major challenges when considering a network is quantization effect which affects the performance of any control laws that were designed without taking the network effects into account. Even if the NCS paradigm is well established, few works are available on adaptive methods for NCSs: this MSc thesis establishes novel adaptive control approaches that attain asymptotic tracking for linear systems and switched linear systems with parametric uncertainties, when input measurements are quantized due to the presence of a communication network closing the control loop. In addition to enlarging the class of systems for which the adaptive quantized control can be solved, a hybrid control policy is applied to a novel dynamic quantizer with dynamic offset to address the tracking problem. The MSc thesis is split into two parts: in the first part we consider the model reference adaptive control of a linear uncertain system, where a Lyapunov-based approach is used to derive the adaptive adjustments for the dynamic range, the dynamic offset and the control parameters. In the second part, the approach is extended to switched uncertain linear systems with dwell-time switching, where a new time-varying Lyapunov-like function is adopted: it is proven analytically that the new Lyapunov function we introduce, overcomes the need for zooming-out at every time instant in order to compensate the possible increment of the Lyapunov function. The proposed quantized adaptive control schemes are applied to two benchmark examples: an electro-hydraulic system and the piecewise linear model of the NASA GTM aircraft, respectively. Advisors/Committee Members: Baldi, Simone (mentor), Yuan, Shuai (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Adaptive control; quantization; networked control systems

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

APA (6^th Edition):

Moustakis, N. (. (2017). Adaptive quantized control for uncertain networked systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323

Chicago Manual of Style (16^th Edition):

Moustakis, Nikolaos (author). “Adaptive quantized control for uncertain networked systems.” 2017. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323.

MLA Handbook (7^th Edition):

Moustakis, Nikolaos (author). “Adaptive quantized control for uncertain networked systems.” 2017. Web. 06 Mar 2021.

Vancouver:

Moustakis N(. Adaptive quantized control for uncertain networked systems. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323.

Council of Science Editors:

Moustakis N(. Adaptive quantized control for uncertain networked systems. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323

University of Illinois – Urbana-Champaign

22. Petrus, Bryan. Distributed parameter control of heat diffusion with solidification.

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

URL: http://hdl.handle.net/2142/50691

► Continuous casting is an important engineering process which produces nearly all steel currently used worldwide. Regulation of the temperature of the steel during casting with… (more)

▼ Continuous casting is an important engineering process which produces nearly all steel currently used worldwide. Regulation of the temperature of the steel during casting with water sprays is known to be important to final product quality and safely operating the caster. Yet most current control methods are effectively open-loop, due to the complicated nature of the process. Measurements of the steel temperature cannot be made reliably due to the high temperatures and constant water spray in the caster. Even if feedback could be obtained, the temperature of the steel is governed by a nonlinear partial differential equation (PDE), which presents a challenge for existing control techniques. In the first part of this dissertation, the state-of-the art in industrial control systems for this process is described. The primary difficulty this system deals with is the sensing problem. Instead of physical sensors, a real-time computational model of the caster is used as a ``software sensor.'' Using the model for feedback, a simple proportional integral (PI) controller bank is able to adequately regulate the surface temperature. Using multiple independent 1-D models interpolated to provide a 2-D prediction of the steel temperature, the model is able to run in real-time even at the high casting speeds of a thin-slab steel caster. The model is calibrated through steady state measurements of the thin-slab caster from reliable pyrometer measurements outside the spray zone and metallurgical length detection trials. The use of independent 1-D models is verified by comparing model predictions with transient measurements of roll forces in another caster. The model is further used to perform a computational study of the temperature and shell thickness in a caster during sudden speed changes. In the second part, the control problem is studied for a simpler, but still fundamentally nonlinear PDE model of the caster. Using Lyapunov stability theory for infinite-dimensional systems, a control law is designed that matches the entire distributed temperature of a 1-D slice through control of the heat flux at the steel surface. In the first version, the control law is based on only examining the temperature error, and produces a control law with sharply varying and unbounded heat flux. In the second version, a control law that performs much better is found by considering the error in enthalpy for feedback. The second control design is also proven to work for models better approximating the real system, in particular limits on the heat flux due to the spray water piping system design. In the final part, the control law designed in the second part is simulated on a model including some of the most important difficulties of the real system, namely non-symmetric boundary conditions and actuator saturation, and performs admirably. The controller still uses a software sensor, as in the first part, so the uncertainty of the model is quantitatively examined. Finally, some additional unproven conjectures are offered that are based on… Advisors/Committee Members: Bentsman, Joseph (advisor), Thomas, Brian G. (advisor), Bentsman, Joseph (Committee Chair), Thomas, Brian G. (Committee Chair), Hovakimyan, Naira (committee member), Basar, Tamer (committee member).

Subjects/Keywords: Control systems; Distributed parameter control; Solidification; Modeling

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APA (6^th Edition):

Petrus, B. (2014). Distributed parameter control of heat diffusion with solidification. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/50691

Chicago Manual of Style (16^th Edition):

Petrus, Bryan. “Distributed parameter control of heat diffusion with solidification.” 2014. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 06, 2021. http://hdl.handle.net/2142/50691.

MLA Handbook (7^th Edition):

Petrus, Bryan. “Distributed parameter control of heat diffusion with solidification.” 2014. Web. 06 Mar 2021.

Vancouver:

Petrus B. Distributed parameter control of heat diffusion with solidification. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2014. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/2142/50691.

Council of Science Editors:

Petrus B. Distributed parameter control of heat diffusion with solidification. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/50691

University of Waterloo

23. Fadakar, Iman. Spatial Formation Control.

Degree: 2015, University of Waterloo

URL: http://hdl.handle.net/10012/10068

► In this thesis, we study robust spatial formation control from several aspects. First, we study robust adaptive attitude synchronization for a network of rigid body… (more)

▼ In this thesis, we study robust spatial formation control from several aspects. First, we study robust adaptive attitude synchronization for a network of rigid body agents using various attitude error functions defined on SO(3). Our results are particularly useful for networks with large initial attitude difference. We devise an adaptive geometric approach to cope with situations where the inertia matrices are not available for measurement. We use the Frobenius norm as a measure for the difference between the actual values of inertia matrices and their estimated values, to construct the individual adaptive laws of the agents. Compared to the previous methods for synchronization on SO(3) such as those which are based on quaternions, our proposed approach does not contain any attitude representation ambiguity. As the final part of our studies from the attitude synchronization aspect, we analyze robustness to external disturbances and unmodeled dynamics, and propose a method to attenuate such effects. Simulation results illustrate the effectiveness of the proposed approach. In the next part of the thesis, we study the distributed localization of the extremum point of unknown quadratic functions representing various physical or artificial signal potential fields. It is assumed that the value of such functions can be measured at each instant. Using high pass filtering of the measured signals, a linear parametric model is obtained for system identification. For design purposes, we add a consensus term to modify the identification subsystem. Next, we analyze the exponential convergence of the proposed estimation scheme using algebraic graph theory. In addition, we derive a distributed identifiability condition and use it for the construction of distributed extremum seeking control laws. In particular, we show that for a network of connected agents, if each agent contains a portion of the dithering signals, it is still possible to drive the system states to the extremum point provided that the distributed identifiability condition is satisfied. In the final part of this research, several robust control problems for general linear time invariant multi-agent systems are studied. We consider the robust consensus problem in the presence of unknown Lipschitz nonlinearities and polytopic uncertainties in the model of each agent. Next, this problem is solved in the presence of external disturbances. A set of control laws is proposed for the network to attain the consensus task and under the zero initial condition, achieves the desired H-infinity performance. We show that by implementing the modified versions of these control laws, it is possible to perform two-time scales formation control.

Subjects/Keywords: Distributed control; Multi-agent systems; Adaptive control

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

APA (6^th Edition):

Fadakar, I. (2015). Spatial Formation Control. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/10068

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

Chicago Manual of Style (16^th Edition):

Fadakar, Iman. “Spatial Formation Control.” 2015. Thesis, University of Waterloo. Accessed March 06, 2021. http://hdl.handle.net/10012/10068.

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

MLA Handbook (7^th Edition):

Fadakar, Iman. “Spatial Formation Control.” 2015. Web. 06 Mar 2021.

Vancouver:

Fadakar I. Spatial Formation Control. [Internet] [Thesis]. University of Waterloo; 2015. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10012/10068.

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

Council of Science Editors:

Fadakar I. Spatial Formation Control. [Thesis]. University of Waterloo; 2015. Available from: http://hdl.handle.net/10012/10068

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

24. Guler, Samet. Adaptive Formation Control of Cooperative Multi-Vehicle Systems.

Degree: 2015, University of Waterloo

URL: http://hdl.handle.net/10012/10082

► The literature comprises many approaches and results for the formation control of multi-vehicle systems; however, the results established for the cases where the vehicles contain… (more)

▼ The literature comprises many approaches and results for the formation control of multi-vehicle systems; however, the results established for the cases where the vehicles contain parametric uncertainties are limited. Motivated by the need for explicit characterization of the effects of uncertainties on multi-vehicle formation motions, we study distributed adaptive formation control of multi-vehicle systems in this thesis, focusing on different interrelated sub-objectives. We first examine the cohesive motion control problem of minimally persistent formations of autonomous vehicles. Later, we consider parametric uncertainties in vehicle dynamics in such autonomous vehicle formations. Following an indirect adaptive control approach and exploiting the features of the certainty equivalence principle, we propose control laws to solve maneuvering problem of the formations, robust to parametric modeling uncertainties. Next, as a formation acquisition/closing ranks problem, we study the adaptive station keeping problem, which is defined as positioning an autonomous mobile vehicle A inside a multi-vehicle network, having specified distances from the existing vehicles of the network. In this setting, a single-integrator model is assumed for the kinematics for the vehicle A, and A is assumed to have access to only its own position and its continuous distance measurements to the vehicles of the network. We partition the problem into two sub-problems; localization of the existing vehicles of the network using range-only measurements and motion control of A to its desired location within the network with respect to other vehicles. We design an indirect adaptive control scheme, provide formal stability and convergence analysis and numerical simulation results, demonstrating the characteristics and performance of the design. Finally, we study re-design of the proposed station keeping scheme for the more challenging case where the vehicle A has non-holonomic motion dynamics and does not have access to its self-location information. Overall, the thesis comprises methods and solutions to four correlated formation control problems in the direction of achieving a unified distributed adaptive formation control framework for multi-vehicle systems.

Subjects/Keywords: Multi-agent systems; Formation control; Adaptive Control

11 more images…

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APA (6^th Edition):

Guler, S. (2015). Adaptive Formation Control of Cooperative Multi-Vehicle Systems. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/10082

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

Chicago Manual of Style (16^th Edition):

Guler, Samet. “Adaptive Formation Control of Cooperative Multi-Vehicle Systems.” 2015. Thesis, University of Waterloo. Accessed March 06, 2021. http://hdl.handle.net/10012/10082.

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

MLA Handbook (7^th Edition):

Guler, Samet. “Adaptive Formation Control of Cooperative Multi-Vehicle Systems.” 2015. Web. 06 Mar 2021.

Vancouver:

Guler S. Adaptive Formation Control of Cooperative Multi-Vehicle Systems. [Internet] [Thesis]. University of Waterloo; 2015. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10012/10082.

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

Council of Science Editors:

Guler S. Adaptive Formation Control of Cooperative Multi-Vehicle Systems. [Thesis]. University of Waterloo; 2015. Available from: http://hdl.handle.net/10012/10082

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

University of New South Wales

25. Maalouf, Aline Ibrahim. New Developments in the Theory of Robust Feedback Control For Quantum Systems.

Degree: Engineering & Information Technology, 2011, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/51364 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10046/SOURCE01?view=true

► The miniaturization of electronic circuits and devices, and recent advances in laser technology, have brought to the forefront the need for, and possibility of, controlling… (more)

▼ The miniaturization of electronic circuits and devices, and recent advances in laser technology, have brought to the forefront the need for, and possibility of, controlling systems which exhibit quantum mechanical features. This thesis aims to develop some concepts of the classical control theory so that they become applicable to quantum systems. In particular, it considers the bounded real properties for a class of linear quantum systems which can be defined by complex quantum stochastic differential equations in terms of annihilation operators only. It develops complex quantum versions of the Bounded Real Lemma, the Strict Bounded Real Lemma and the Lossless Bounded Real Lemma. For the class of quantum systems under consideration, it is shown that the question of physical realizability is related to the bounded real and lossless bounded real properties. Furthermore, it considers a coherent H∞ control problem for this same class of linear quantum systems and shows that a solution to the H∞ control problem can be obtained in terms of a pair of complex algebraic Riccati equations. In addition, the question of physical realizability of the resulting quantum controllers is related to a bounded real property. Also, the thesis considers a coherent LQG control problem for this class of linear quantum systems and develops a method for designing an LQG controller which satisfies a physical realizability condition. The main idea involves constructing a suitable cost function for the LQG problem such that a physically realizable controller is obtained. The resulting controller provides robust stability as well as optimal performance. Finally, a finite horizon H∞ control problem is solved for a class of linear quantum systems using a dynamic game approach. Three cases are considered: the continuous time case, the sampled-data measurements case and the delayed measurement case. The methodology adopted in these three cases, involves an equivalence between the quantum control problem and an auxiliary classical stochastic H∞ problem. Then, by solving the finite horizon H∞ control problem for the equivalent stochastic systems using some results from a corresponding deterministic problem, following a dynamic game approach, the finite horizon H∞ control problem for linear quantum systems is solved separately for each case. Advisors/Committee Members: Petersen, Ian, Engineering & Information Technology, Australian Defence Force Academy, UNSW.

Subjects/Keywords: Linear Quantum Systems; Quantum Control; Robust Control

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APA (6^th Edition):

Maalouf, A. I. (2011). New Developments in the Theory of Robust Feedback Control For Quantum Systems. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/51364 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10046/SOURCE01?view=true

Chicago Manual of Style (16^th Edition):

Maalouf, Aline Ibrahim. “New Developments in the Theory of Robust Feedback Control For Quantum Systems.” 2011. Doctoral Dissertation, University of New South Wales. Accessed March 06, 2021. http://handle.unsw.edu.au/1959.4/51364 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10046/SOURCE01?view=true.

MLA Handbook (7^th Edition):

Maalouf, Aline Ibrahim. “New Developments in the Theory of Robust Feedback Control For Quantum Systems.” 2011. Web. 06 Mar 2021.

Vancouver:

Maalouf AI. New Developments in the Theory of Robust Feedback Control For Quantum Systems. [Internet] [Doctoral dissertation]. University of New South Wales; 2011. [cited 2021 Mar 06]. Available from: http://handle.unsw.edu.au/1959.4/51364 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10046/SOURCE01?view=true.

Council of Science Editors:

Maalouf AI. New Developments in the Theory of Robust Feedback Control For Quantum Systems. [Doctoral Dissertation]. University of New South Wales; 2011. Available from: http://handle.unsw.edu.au/1959.4/51364 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10046/SOURCE01?view=true

Florida Atlantic University

26. Klinger, Wilhelm B. Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag.

Degree: MS, 2014, Florida Atlantic University

URL: http://purl.flvc.org/fau/fd/FA00004130 ; (URL) http://purl.flvc.org/fau/fd/FA00004130

►

Summary: The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface… (more)

Subjects/Keywords: Adaptive control systems; Drag (Aerodynamics); Intelligent control systems; Intelligent control systems; Vehicles, Remotely piloted

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APA (6^th Edition):

Klinger, W. B. (2014). Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag. (Masters Thesis). Florida Atlantic University. Retrieved from http://purl.flvc.org/fau/fd/FA00004130 ; (URL) http://purl.flvc.org/fau/fd/FA00004130

Chicago Manual of Style (16^th Edition):

Klinger, Wilhelm B. “Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag.” 2014. Masters Thesis, Florida Atlantic University. Accessed March 06, 2021. http://purl.flvc.org/fau/fd/FA00004130 ; (URL) http://purl.flvc.org/fau/fd/FA00004130.

MLA Handbook (7^th Edition):

Klinger, Wilhelm B. “Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag.” 2014. Web. 06 Mar 2021.

Vancouver:

Klinger WB. Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag. [Internet] [Masters thesis]. Florida Atlantic University; 2014. [cited 2021 Mar 06]. Available from: http://purl.flvc.org/fau/fd/FA00004130 ; (URL) http://purl.flvc.org/fau/fd/FA00004130.

Council of Science Editors:

Klinger WB. Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag. [Masters Thesis]. Florida Atlantic University; 2014. Available from: http://purl.flvc.org/fau/fd/FA00004130 ; (URL) http://purl.flvc.org/fau/fd/FA00004130

Ryerson University

27. Zhang, Hongwei. Development and multiple mode control of modular and reconfigurable robot.

Degree: 2013, Ryerson University

URL: https://digital.library.ryerson.ca/islandora/object/RULA%3A2876

► There is a strong desire for robots to manipulate in uncontrolled environments. In uncontrolled environments, the robot has to adapt to the world consisting of… (more)

▼ There is a strong desire for robots to manipulate in uncontrolled environments. In uncontrolled environments, the robot has to adapt to the world consisting of only partially known or unknown objects and tasks, and real-time constraints. The capability of robots working in active or passive modes and switching between them helps enabling the robots to work in unstructured environments. Joint torque sensing is essential for implementing multiple mode control of robots. Though there have been a number of means of joint torque sensing, the existing joint sensing techniques have diverse limitations, such as in installation, reliability, cost, and noise immunity. This dissertation work develops a new joint torque sensing method for a modular and reconfigurable robot (MRR) with harmonic drive joints and provides solutions to multiple mode control of MRR based on the proposed sensing technique. This research consists of two main parts. In the first part, a novel mathematical model for compliance of harmonic drives has been proposed. The proposed model captures not only the nonlinear stiffness but also the hysteresis phenomenon of harmonic drive transmission. Based on the developed harmonic drive compliance model, a joint torque estimation method using position measurements is developed. Torque estimation using position measurements provides an advantage of noise immunity to the estimated joint torque. Using the compliance of harmonic drives instead of an additional elastic component does not change the joint dynamics. Building upon the new torque estimation technique, a multiple working mode control algorithm for MRR is developed and experimentally validated. The objective of the second part is to make the wrist suitable for dexterous manipulation in unstructured environments, such as door opening. A robust adaptive controller is developed for tracking control of the wrist in active mode; and a new interactive force compensation technique is proposed based on force sensor measurement, enabling passive working mode of the compact wrist without using mechanical solutions, which not only saves weight and volume, but also avoids losing tracking of the joints’ position when switching from passive mode to active mode. Experiments on a prototype wrist have demonstrated the effectiveness of the proposed method. Advisors/Committee Members: Liu, Guangjun (Thesis advisor), Ryerson University (Degree grantor).

Subjects/Keywords: Robots – Control systems; Mobile robots – Automatic control; Manipulators (Mechanism) – Automatic control; Adaptive control systems

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APA (6^th Edition):

Zhang, H. (2013). Development and multiple mode control of modular and reconfigurable robot. (Thesis). Ryerson University. Retrieved from https://digital.library.ryerson.ca/islandora/object/RULA%3A2876

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

Chicago Manual of Style (16^th Edition):

Zhang, Hongwei. “Development and multiple mode control of modular and reconfigurable robot.” 2013. Thesis, Ryerson University. Accessed March 06, 2021. https://digital.library.ryerson.ca/islandora/object/RULA%3A2876.

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

MLA Handbook (7^th Edition):

Zhang, Hongwei. “Development and multiple mode control of modular and reconfigurable robot.” 2013. Web. 06 Mar 2021.

Vancouver:

Zhang H. Development and multiple mode control of modular and reconfigurable robot. [Internet] [Thesis]. Ryerson University; 2013. [cited 2021 Mar 06]. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A2876.

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

Council of Science Editors:

Zhang H. Development and multiple mode control of modular and reconfigurable robot. [Thesis]. Ryerson University; 2013. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A2876

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

University of Toronto

28. Sniderman, Adam Charles. Synthesizing Structure: Patterned Control of Distributed Systems.

Degree: PhD, 2017, University of Toronto

URL: http://hdl.handle.net/1807/80652

► Nature provides fabulous proofs-of-concept for distributed systems, such as flocks of starlings that perform stunning aerial displays without the direction of a single leader. Autonomous… (more)

Subjects/Keywords: Control theory; Decentralized control; Distributed control; Geometric control; Linear systems; Multiagent systems; 0790

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APA (6^th Edition):

Sniderman, A. C. (2017). Synthesizing Structure: Patterned Control of Distributed Systems. (Doctoral Dissertation). University of Toronto. Retrieved from http://hdl.handle.net/1807/80652

Chicago Manual of Style (16^th Edition):

Sniderman, Adam Charles. “Synthesizing Structure: Patterned Control of Distributed Systems.” 2017. Doctoral Dissertation, University of Toronto. Accessed March 06, 2021. http://hdl.handle.net/1807/80652.

MLA Handbook (7^th Edition):

Sniderman, Adam Charles. “Synthesizing Structure: Patterned Control of Distributed Systems.” 2017. Web. 06 Mar 2021.

Vancouver:

Sniderman AC. Synthesizing Structure: Patterned Control of Distributed Systems. [Internet] [Doctoral dissertation]. University of Toronto; 2017. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1807/80652.

Council of Science Editors:

Sniderman AC. Synthesizing Structure: Patterned Control of Distributed Systems. [Doctoral Dissertation]. University of Toronto; 2017. Available from: http://hdl.handle.net/1807/80652

University of Pretoria

29. [No author]. Determinants of integrity in upward feedback .

Degree: 2010, University of Pretoria

URL: http://upetd.up.ac.za/thesis/available/etd-03302010-132039/

► This research investigated whether the same attributes that cause managers to improve performance following upward feedback also encourage subordinates to give open and honest upward… (more)

Subjects/Keywords: UCTD; Feedback control systems

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APA (6^th Edition):

author], [. (2010). Determinants of integrity in upward feedback . (Masters Thesis). University of Pretoria. Retrieved from http://upetd.up.ac.za/thesis/available/etd-03302010-132039/

Chicago Manual of Style (16^th Edition):

author], [No. “Determinants of integrity in upward feedback .” 2010. Masters Thesis, University of Pretoria. Accessed March 06, 2021. http://upetd.up.ac.za/thesis/available/etd-03302010-132039/.

MLA Handbook (7^th Edition):

author], [No. “Determinants of integrity in upward feedback .” 2010. Web. 06 Mar 2021.

Vancouver:

author] [. Determinants of integrity in upward feedback . [Internet] [Masters thesis]. University of Pretoria; 2010. [cited 2021 Mar 06]. Available from: http://upetd.up.ac.za/thesis/available/etd-03302010-132039/.

Council of Science Editors:

author] [. Determinants of integrity in upward feedback . [Masters Thesis]. University of Pretoria; 2010. Available from: http://upetd.up.ac.za/thesis/available/etd-03302010-132039/

University of Utah

30. Flickinger, Daniel Montrallo. Motion planning and coordination of mobile robot behavior for medium scale distributed wireless network experiments.

Degree: MS;, Mechanical Engineering;, 2007, University of Utah

URL: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1291/rec/790

► In this research, a computerized motion planning and control system for multiple robots is presented. Medium scale wheeled mobile robot couriers move wireless antennas within… (more)

Subjects/Keywords: Robots; Control systems; Wireless LANs

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APA (6^th Edition):

Flickinger, D. M. (2007). Motion planning and coordination of mobile robot behavior for medium scale distributed wireless network experiments. (Masters Thesis). University of Utah. Retrieved from http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1291/rec/790

Chicago Manual of Style (16^th Edition):

Flickinger, Daniel Montrallo. “Motion planning and coordination of mobile robot behavior for medium scale distributed wireless network experiments.” 2007. Masters Thesis, University of Utah. Accessed March 06, 2021. http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1291/rec/790.

MLA Handbook (7^th Edition):

Flickinger, Daniel Montrallo. “Motion planning and coordination of mobile robot behavior for medium scale distributed wireless network experiments.” 2007. Web. 06 Mar 2021.

Vancouver:

Flickinger DM. Motion planning and coordination of mobile robot behavior for medium scale distributed wireless network experiments. [Internet] [Masters thesis]. University of Utah; 2007. [cited 2021 Mar 06]. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1291/rec/790.

Council of Science Editors:

Flickinger DM. Motion planning and coordination of mobile robot behavior for medium scale distributed wireless network experiments. [Masters Thesis]. University of Utah; 2007. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1291/rec/790

Open Access Theses and Dissertations