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Input/output linearization of control affine systems using neural networksDelgado Rivera, Jesus Alberto January 1996 (has links)
No description available.
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Reference system nonlinear model predictive control /Oliveira Lopes, Luís Cláudio, January 2000 (has links)
Thesis (Ph. D.)--Lehigh University, 2000. / Includes vita. Includes bibliographical references (leaves 191-203).
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A balancing approach to analysis and reduction of nonlinear systemsHahn, Juergen, January 2002 (has links)
Thesis (Ph. D.)--University of Texas at Austin, 2002. / Vita. Includes bibliographical references. Available also in a digital version from UMI Company.
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A balancing approach to analysis and reduction of nonlinear systems /Hahn, Juergen, January 2002 (has links)
Thesis (Ph. D.)--University of Texas at Austin, 2002. / Vita. Includes bibliographical references (leaves 133-146). Available also in a digital version from Dissertation Abstracts.
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A balancing approach to analysis and reduction of nonlinear systemsHahn, Juergen, 1971- 04 May 2011 (has links)
Not available / text
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Dissipative Decomposition and Feedback Stabilization of Nonlinear Control SystemsHudon, Nicolas 17 June 2010 (has links)
This dissertation considers the problem of approximate dissipative potentials construction and their use in smooth feedback stabilization of nonlinear control systems. For mechanical systems, dissipative potentials, usually a generalized Hamiltonian function, can be derived from physical intuition. When a dissipative Hamiltonian is not available, one can rely on dissipative Hamiltonian realization techniques, as proposed recently by Cheng and coworkers. Extensive results are available in the literature for (robust) stabilization based on the obtained potential.
For systems of interest in chemical engineering, especially systems with mass action kinetics, energy is often ill-defined. Moreover, realization techniques are difficult to apply, due to the nonlinearities associated with the reaction terms. Approximate dissipative realization techniques have been considered by many researchers for analysis and feedback design of controllers in the context of chemical processes. The objective of this thesis is to study the
construction of local dissipative potentials and their application to solve stabilization problems.
The present work employs the geometric stabilization approach proposed by Jurdjevic and Quinn, refined by Faubourg and Pomet, and by Malisoff and Mazenc, for the design of stabilizing feedback laws. This thesis seeks to extend and apply the Jurdjevic--Quinn stabilization method to nonlinear stabilization problems, assuming no a priori
knowledge of a Lyapunov function.
A homotopy-based local decomposition method is first employed to study the dissipative Hamiltonian realization problem, leading to the construction of locally defined dissipative potentials. If the obtained potential satisfies locally the
weak Jurdjevic--Quinn conditions, it is then shown how to construct feedback controllers using that potential, and
under what conditions a Lyapunov function can be constructed locally for time-independent control affine systems. The proposed technique is then used for the construction of state feedback regulators and for the stabilization of periodic orbits based on a construction proposed by Bacciotti and Mazzi. In the last chapter of the thesis, stabilization of time-dependent control affine systems is considered, and the main result is used for the stabilization of periodic solutions using asymptotic feedback tracking.
Low-dimensional examples are used throughout the thesis to illustrate the proposed techniques and results. / Thesis (Ph.D, Chemical Engineering) -- Queen's University, 2010-06-17 10:13:42.201
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Robust nonlinear process control by L2 finite gain theory : a thesis submitted in fulfillment of the requirements for the degree of doctor of philosophy /Dong, Shijie. January 1998 (has links)
Thesis (Ph.D.) -- University of Western Sydney Hawkesbury, 1998. / Includes bibliographical references.
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Linear parameter varying representations for nonlinear control design /Carter, Lance Huntington, January 1998 (has links)
Thesis (Ph. D.)--University of Texas at Austin, 1998. / Vita. Includes bibliographical references (leaves 82-88). Available also in a digital version from Dissertation Abstracts.
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Robust output feedback regulation of a class of chemical and biological reactorsAntonelli, Rita January 2001 (has links)
No description available.
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Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal LocomotionMartin, Joseph Bacon V 23 October 2020 (has links)
This thesis explores the development of time-varying virtual constraint controllers that allow stable and agile gaits for full-order hybrid dynamical models of quadrupedal locomotion. Unlike time-invariant nonlinear controllers, time-varying controllers do not rely on sensor data for gait phasing and can initiate locomotion from zero velocity. Motivated by these properties, we investigate the stability guarantees that can be provided by the time-varying approach. More specifically, we systematically establish necessary and sufficient conditions that guarantee exponential stability of periodic orbits for time-varying hybrid dynamical systems utilizing the Poincar� return map. Leveraging the results of the presented proof, we develop time-varying virtual constraint controllers to stabilize bounding, trotting, and walking gaits of a 14 degree of freedom quadrupedal robot, Minitaur. A framework for selecting the parameters of virtual constraint controllers to achieve exponential stability is shown, and the feasibility of the analytical results is numerically validated in full-order model simulations of Minitaur. / Master of Science / This thesis extends a class of controllers designed to address the full dynamics of stable locomotion in quadrupedal robots. As of yet, there is no widely-accepted standard methodology for controlling the complex maneuvers of quadrupedal locomotion, as most strategies rely on simplified models to ease computational constraints. "Virtual constraint'' controllers - also known as Hybrid Zero Dynamics controllers - are a class of controllers designed to address the full dynamics of legged locomotion by coordinating the links of a legged robot model to follow a periodic trajectory representing the desired gait pattern. However, the formalized "time-invariant'' model of virtual constraint controllers relies on sensor data to track progress on the desired gait trajectory. This dependence on sensor data makes the resulting controllers unable to start from a state of zero velocity and sensitive to disturbances generated by high velocity impacts. The proposed "time-varying'' virtual constraints controllers utilize the elapsed time to track gait progress and do not have the previously mentioned limitations. Motivated by these benefits, we develop a formalized methodology for designing time-varying virtual constraint controllers for quadrupedal robots. This includes extending time-invariant means of mathematically validating the stability of the gait controllers to time-varying systems. With strategies of designing and validating time-varying virtual constraint controllers formalized, the methodology is implemented on numerical simulations of bounding, trotting, and walking gaits for the quadrupedal robot Minitaur which validates the stability and feasibility of the developed controllers.
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