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Full-Text Articles in Controls and Control Theory
Nonlinear Controller Design For Uavs With Time-Varying Aerodynamic Uncertainties, Michail G. Michailidis
Nonlinear Controller Design For Uavs With Time-Varying Aerodynamic Uncertainties, Michail G. Michailidis
Electronic Theses and Dissertations
Unmanned Aerial Vehicles (UAVs) are here and they are here to stay. Unmanned Aviation has expanded significantly in recent years and research and development in the field of navigation and control have advanced beyond expectations. UAVs are currently being used for defense programs around the world but the range of applications is expected to grow in the near future, with civilian applications such as environmental and aerial monitoring, aerial surveillance and homeland security being some representative examples. Conventional and commercially available small-scale UAVs have limited utilization and applicability to executing specific short-duration missions because of limitations in size, payload, power …
Reinforcement Learning, Intelligent Control And Their Applications In Connected And Autonomous Vehicles, Adedapo O. Odekunle
Reinforcement Learning, Intelligent Control And Their Applications In Connected And Autonomous Vehicles, Adedapo O. Odekunle
Electronic Theses and Dissertations
Reinforcement learning (RL) has attracted large attention over the past few years. Recently, we developed a data-driven algorithm to solve predictive cruise control (PCC) and games output regulation problems. This work integrates our recent contributions to the application of RL in game theory, output regulation problems, robust control, small-gain theory and PCC. The algorithm was developed for $H_\infty$ adaptive optimal output regulation of uncertain linear systems, and uncertain partially linear systems to reject disturbance and also force the output of the systems to asymptotically track a reference. In the PCC problem, we determined the reference velocity for each autonomous vehicle …
Robust Distributed Stabilization Of Interconnected Multiagent Systems, Vahid Rezaei
Robust Distributed Stabilization Of Interconnected Multiagent Systems, Vahid Rezaei
Electronic Theses and Dissertations
Many large-scale systems can be modeled as groups of individual dynamics, e.g., multi-vehicle systems, as well as interconnected multiagent systems, power systems and biological networks as a few examples. Due to the high-dimension and complexity in configuration of these infrastructures, only a few internal variables of each agent might be measurable and the exact knowledge of the model might be unavailable for the control design purpose. The collective objectives may range from consensus to decoupling, stabilization, reference tracking, and global performance guarantees. Depending on the objectives, the designer may choose agent-level low-dimension or multiagent system-level high-dimension approaches to develop distributed …