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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Learning to control

Potts, Duncan, Computer Science & Engineering, Faculty of Engineering, UNSW January 2007 (has links)
This thesis examines whether it is possible for a machine to incrementally build a complex model of its environment, and then use this model for control purposes. Given a sequence of noisy observations, the machine forms a piecewise linear approximation to the nonlinear dynamic equations that are assumed to describe the real world. A number of existing online system identification techniques are examined, but it is found that they all either scale poorly with dimensionality, have a number of parameters that make them difficult to apply, or do not learn sufficiently accurate approximations. Therefore a novel framework is developed for learning linear model trees in both batch and online settings. The algorithms are evaluated empirically on a number of commonly used benchmark datasets, a simple test function, and three dynamic domains ranging from a simple pendulum to a complex flight simulator. The new batch algorithm is compared with three state-of-the-art algorithms and is seen to perform favourably overall. The new incremental model tree learner also compares well with a recent online function approximator from the literature. Armed with a tool for effectively constructing piecewise linear models of the environment, a control framework is developed that learns trajectories from a demonstrator and attempts to follow these trajectories within each linear region usinglinear quadratic control. The induced controllers are able to swing up and balance a simple forced pendulum both in simulation and in the real world. They can also swing up and balance a real double pendulum. The induced controllers are empirically shown to perform better than the original demonstrator, and could therefore be used to either replace a human operator or improve upon an existing automatic controller. In addition an ability to generalise the learnt trajectories enables the system to perform novel tasks. This is demonstrated on a flight simulator where, having observed an aircraft flying several times around a circuit, the controller is able to copy the take-off procedure, fly a completely new circuit that includes new manoeuvres, and successfully land the plane.
2

Learning to control

Potts, Duncan, Computer Science & Engineering, Faculty of Engineering, UNSW January 2007 (has links)
This thesis examines whether it is possible for a machine to incrementally build a complex model of its environment, and then use this model for control purposes. Given a sequence of noisy observations, the machine forms a piecewise linear approximation to the nonlinear dynamic equations that are assumed to describe the real world. A number of existing online system identification techniques are examined, but it is found that they all either scale poorly with dimensionality, have a number of parameters that make them difficult to apply, or do not learn sufficiently accurate approximations. Therefore a novel framework is developed for learning linear model trees in both batch and online settings. The algorithms are evaluated empirically on a number of commonly used benchmark datasets, a simple test function, and three dynamic domains ranging from a simple pendulum to a complex flight simulator. The new batch algorithm is compared with three state-of-the-art algorithms and is seen to perform favourably overall. The new incremental model tree learner also compares well with a recent online function approximator from the literature. Armed with a tool for effectively constructing piecewise linear models of the environment, a control framework is developed that learns trajectories from a demonstrator and attempts to follow these trajectories within each linear region usinglinear quadratic control. The induced controllers are able to swing up and balance a simple forced pendulum both in simulation and in the real world. They can also swing up and balance a real double pendulum. The induced controllers are empirically shown to perform better than the original demonstrator, and could therefore be used to either replace a human operator or improve upon an existing automatic controller. In addition an ability to generalise the learnt trajectories enables the system to perform novel tasks. This is demonstrated on a flight simulator where, having observed an aircraft flying several times around a circuit, the controller is able to copy the take-off procedure, fly a completely new circuit that includes new manoeuvres, and successfully land the plane.
3

Controller performance monitoring for constrained systems /

Huang, Lilong, January 2004 (has links)
Thesis (Ph. D.)--Lehigh University, 2005. / Includes vita. Includes bibliographical references (leaves 187-194).
4

D-decomposition analysis of automatic control systems

Lanzkron, Rolf W. January 1956 (has links)
Thesis (Ph. D.)--University of Wisconsin--Madison, 1956. / Typescript. Vita. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves [133]-137).
5

A classified bibliography of major books and papers on ths history of the development of automatic control systems theory and practice

Ghelfi, Giovanni. January 1978 (has links)
Thesis (M.S.)--University of Wisconsin--Madison. / Typescript. eContent provider-neutral record in process. Description based on print version record.
6

A classified bibliography of major review and survey papers and reports in automatic control systems theory and applications

Cheung, Frederic Kwok-kin. January 1977 (has links)
Thesis--Wisconsin.
7

Solution of certain control problems in distributed-parameter systems by use of the concept of the set of attainable states

Vidyasagar, M. January 1900 (has links)
Thesis (Ph. D.)--University of Wisconsin--Madison, 1969. / Typescript. Vita. Description based on print version record. Includes bibliographical references.
8

Invariance theory of automatic control systems

Sarma, Isukapalli Gopala, January 1964 (has links)
Thesis (Ph. D.)--University of Wisconsin--Madison, 1964. / Vita. Typescript. Abstracted in Dissertations abstracts, v. 26 (1964) no 6, p. 3483-4. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.
9

Sensitivity analysis and synthesis in automatic control systems

Eslami, Mansour. January 1978 (has links)
Thesis (Ph. D.)University of Wisconsin--Wisconsin. / Vita. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 420-441).
10

A parameter perturbation learning model

Heckman, Dwayne W. January 1961 (has links)
Thesis (M.S.)--University of Wisconsin--Madison, 1961. / Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaf 69).

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