Browsing Institutt for teknisk kybernetikk by Title
Now showing items 2337-2356 of 3699
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Nonlinear and Adaptive Dynamic Control Allocation
(Doctoral thesis, 2008)This work addresses the control allocation problem for a nonlinear over-actuated time-varying system where parameters a¢ ne in the actuator dynamics and actuator force model may be assumed unknown. Instead of optimizing ... -
Nonlinear and Hybrid Feedback Control of Marine Vehicles and Multirotors
(Doctoral theses at NTNU;2022:373, Doctoral thesis, 2022)This thesis presents new results and solutions for prioritized control of robotic systems and hybrid feedback control of marine and aerial vehicles. We introduce a novel task-priority framework for redundant robotic systems ... -
Nonlinear Attitude and Path-following Control of Fixed-Wing Aircraft
(Doctoral theses at NTNU;2023:265, Doctoral thesis, 2023)The last decade has seen an increased use of small fixed-wing unmanned aerial vehicles (UAVs) in a multitude of civil, commercial and scientific applications. Autopilots are automatic control systems that provide the basic ... -
Nonlinear Attitude Control of a Pointing and Slewing Spacecraft
(Master thesis, 2019)Dynamikken i en satellitts bane og attitude modelleres for en satellitt med reaksjon- shjul og magnetorquere som aktuatorer. Den ulineære modellen er implementert i Matlab/Simulink. Regulatorene som blir brukt er konvensjonell ... -
Nonlinear Autonomous Docking and Path-Following Control Systems for the Otter USV
(Master thesis, 2020)Denne oppgaven gikk ut på å bruke ulineære kontrollalgoritmer for autonom dokking, banefølging og hinderunngåelse for Maritime Robotics sin minste overflatefarkost, "Oteren". Autonom dokking er for tiden et hett tema der ... -
Nonlinear Camera- and GNSS-aided INS for Fixed-Wing UAV using the eXogenous Kalman Filter
(Chapter, 2017)This chapter aims at applying a recently proposed estimator, called eXogenous Kalman Filter (XKF), to the navigation of a fixed-wing unmanned aerial vehicle (UAV) using inertial sensors, GNSS, and optical flow calculated ... -
Nonlinear Control and Synchronization of Mechanical Systems
(Doktoravhandlinger ved NTNU, 1503-8181; 2008:298, Doctoral thesis, 2008)This thesis considers three issues: the problem of global output feedback tracking control of Euler-Lagrange systems; the problem of path following control of underactuated marine vehicles; and the problem of mutual ... -
Nonlinear Control of Fixed-Wing Unmanned Aerial Vehicles
(Doktoravhandlinger ved NTNU, 1503-8181; 2014:326, Doctoral thesis, 2014) -
Nonlinear control of Tethered Airfoils: Path-following control of Tethered Airfoils
(Master thesis, 2011)This master thesis contains modeling, analysis and control design for atethered airfoil. A path-following controller has been developed and provenlocally asymptotically stable. The guidance law is general, and applicableto ... -
Nonlinear Control with Swing Damping of a Multirotor UAV with Suspended Load
(Journal article; Peer reviewed, 2017)In this paper, we consider the problem of trajectory tracking of a multirotor Unmanned Aerial Vehicle carrying a suspended payload. The movement of the suspended payload influences the dynamics of the multirotor, which ... -
Nonlinear estimation and control in the iron ore pelletizing process: An application and analysis of the Extended Kalman Filter
(Doktoravhandlinger ved NTNU, 1503-8181; 2004:94, Doctoral thesis, 2004)This thesis deals with estimation and control of the balling drums used in the iron ore pelletizing process. First a conceptually new control scheme for balling drums is proposed. In this control scheme a cluster of drums ... -
Nonlinear Estimation with Applications to Drilling
(Doctoral Theses at NTNU, 1503-8181; 2011:60, Doctoral thesis, 2011)This thesis addresses the topic of nonlinear estimation and its applications. Particular emphasis is given to downhole pressure estimation for Managed Pressure Drilling (MPD), but due to the mathematical similarities of ... -
Nonlinear Identification of Ship Autopilot Models
(Master thesis, 2009)The purpose of this thesis has been to develop methods for identification of nonlinear models to be used in ship autopilots. An accurate model is essential when developing autopilot systems. Although a number of identification ... -
Nonlinear Manoeuvring Models for Ships: A Lagrangian Approach
(Doktoravhandlinger ved NTNU, 1503-8181; 2008:114, Doctoral thesis, 2008)his thesis analyses manoeuvring ships. Good modelling is vital for effective control system design and simulation. Such models are invaluable tools in areas such as training and decision support. This thesis prioritises ... -
Nonlinear Model Predictive Attitude Control for Fixed-Wing Unmanned Aerial Vehicle
(Chapter, 2019)Exploiting the physical limitations on the maneuverability of a fixed-wing Unmanned Aerial Vehicle (UAV) and simultaneously respecting its flight envelope and actuator constraints is a demanding task, for which Nonlinear ... -
Nonlinear Model Predictive Control (NMPC) of Separation Trains
(Master thesis, 2009)An evaluation of Modelica Fluid Library 1.0 has been performed and the new library has been found to be more efficient both during modelling and during computations than the beta version of the library. The separator model ... -
Nonlinear Model Predictive Control of Electrical Submersible Pumps based on Echo State Networks
(Peer reviewed; Journal article, 2022)Employed for artificial lifting in oil well production, Electrical Submersible Pumps (ESP) can be operated with Model Predictive Control (MPC) to drive an optimal production, while ensuring a safe operation and respecting ... -
Nonlinear Model Predictive Control of Offshore Hybrid Power Systems
(Master thesis, 2021)Produksjon av olje og gass på utaskjærs plattformer er en viktig industri for mange land over hele verden. Uheldigvis medfører den nåværende produksjonen høye utslipp av drivhusgasser. En løsning som allerede er i gang ... -
A nonlinear model predictive control scheme for sensor fault tolerance in observation processes
(Peer reviewed; Journal article, 2020)This article addresses the problem of designing a sensor fault‐tolerant controller for an observation process where a primary, controlled system observes, through a set of measurements, an exogenous system to estimate the ... -
Nonlinear Model Predictive Control using Derivative-Free Optimization
(Master thesis, 2013)Today it is common to solve the Non-Linear Programming (NLP) problem arising in NMPC by the use of gradient-based optimization. However, these techniques may not be suited if the prediction model, and thus the optimization ...