Controls and Control Theory Commons^™

Nonlinear Model Predictive Control Of Wave Energy Converter, Isha Malekar

Dissertations, Master's Theses and Master's Reports

In this report model predictive control (MPC) is applied to a simulated, spherical, point absorber wave energy converter to maximize energy extraction. Constraints are applied to the buoy's displacement and the power take-off (PTO) generator force. The WEC's "truth” model uses nonlinear Froude-Krylov (FK) hydrostatic and hydrodynamic forces. This is in contrast with previous studies where linear approximations are used in the form of a hydrostatic stiffness force and a wave excitation force. The nonlinear forces become significant when the vertical displacement of the buoy exceeds about 40% of the buoy's radius. Two versions of MPC are compared where optimal …

Development Of Autonomous Vehicle Motion Planning And Control Algorithm With D* Planner And Model Predictive Control In A Dynamic Environment, Somnath Mondal

Dissertations, Master's Theses and Master's Reports

The research in this report incorporates the improvement in the autonomous driving capability of self-driving cars in a dynamic environment. Global and local path planning are implemented using the D* path planning algorithm with a combined Cubic B-Spline trajectory generator, which generates an optimal obstacle free trajectory for the vehicle to follow and avoid collision. Model Predictive Control (MPC) is used for the longitudinal and the lateral control of the vehicle. The presented motion planning and control algorithm is tested using Model-In-the-Loop (MIL) method with the help of MATLAB® Driving Scenario Designer and Unreal Engine® Simulator by Epic Games®. Different …

Integration Of Robotic And Electro-Pneumatic Systems Using Advanced Control And Communication Schemes, Chinmay Kondekar

Dissertations, Master's Theses and Master's Reports

Modern industrial automation systems are designed by interconnecting various subsystems which work together to perform a process. The thesis project aims to integrate fragmented subsystems into a flexible and reconfigurable system through advanced communication protocols and perform a process to demonstrate the effectiveness of interconnected systems.

The system consists of three six-axis robots, one electro-pneumatic robot, and two conveyors connected using EthernetIP communication and hardwired connections. The interconnected system works together to perform machining of a workpiece using advanced control methods of CAD to robot path generation, central control through a PLC, and process control through HMI.

Standardized programming blocks …