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A Series Solution Framework for Finite-time Optimal Feedback Control, H-infinity Control and GamesSharma, Rajnish 14 January 2010 (has links)
The Bolza-form of the finite-time constrained optimal control problem leads to
the Hamilton-Jacobi-Bellman (HJB) equation with terminal boundary conditions and tobe-
determined parameters. In general, it is a formidable task to obtain analytical and/or
numerical solutions to the HJB equation. This dissertation presents two novel
polynomial expansion methodologies for solving optimal feedback control problems for
a class of polynomial nonlinear dynamical systems with terminal constraints. The first
approach uses the concept of higher-order series expansion methods. Specifically, the
Series Solution Method (SSM) utilizes a polynomial series expansion of the cost-to-go
function with time-dependent coefficient gains that operate on the state variables and
constraint Lagrange multipliers. A significant accomplishment of the dissertation is that
the new approach allows for a systematic procedure to generate optimal feedback control
laws that exactly satisfy various types of nonlinear terminal constraints.
The second approach, based on modified Galerkin techniques for the solution of
terminally constrained optimal control problems, is also developed in this dissertation. Depending on the time-interval, nonlinearity of the system, and the terminal
constraints, the accuracy and the domain of convergence of the algorithm can be related
to the order of truncation of the functional form of the optimal cost function. In order to
limit the order of the expansion and still retain improved midcourse performance, a
waypoint scheme is developed. The waypoint scheme has the dual advantages of
reducing computational efforts and gain-storage requirements. This is especially true for
autonomous systems. To illustrate the theoretical developments, several aerospace
application-oriented examples are presented, including a minimum-fuel orbit transfer
problem.
Finally, the series solution method is applied to the solution of a class of partial
differential equations that arise in robust control and differential games. Generally, these
problems lead to the Hamilton-Jacobi-Isaacs (HJI) equation. A method is presented that
allows this partial differential equation to be solved using the structured series solution
approach. A detailed investigation, with several numerical examples, is presented on the
Nash and Pareto-optimal nonlinear feedback solutions with a general terminal payoff.
Other significant applications are also discussed for one-dimensional problems with
control inequality constraints and parametric optimization.
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Using a Serious Game as an Educational Tool about Obligation to Give Notice : A Game Collaboration with Tidaholm MunicipalityAndersson, Emilia January 2017 (has links)
The focus of this thesis was to use serious games as a tool to teach about obligation to give notice. Obligation to give notice means that certain professionals need to report to social services if a child is being harmed. This thesis studied if case-based storytelling could bring a relevant teaching experience, if storytelling could help participants learn about obligation to give notice and how instant and delayed feedback affect the learning. Participants played a story-based game with either instant or delayed feedback and answered three questionnaires about obligation to give notice. The study found that participants did find that the storytelling was useful for learning and gaining more knowledge about about obligation to give notice. For the feedback it was found that both types of feedback made the participants learn significantly more but there was no significant difference when comparing the feedbacks to each other.
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Communicating Game Feedback through Pictorial Means : A Case Study of the Game Among RipplesGreip, Martin January 2013 (has links)
This thesis studies how one can convey meaning in games by utilising pictorial feedback alone. With the help of Peircean visual semiotics the signs for the case study Among Ripples are assembled and later analysed in detail. As a subtopic the thesis also explores if it is possible to embed pictorial feedback into the game world instead of having it superimposed. The results showed that it is possible to convey some feedback with pictorial means alone, and that the entry points for understanding are not the same between different people. They look at different cues from the pictorial feedback constructed.
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