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Direct training of robots using a positional deviation sensor
(Doktor ingeniøravhandling;1988:33, Doctoral thesis, 1988)A device and system for physically guiding a manipulator through its task is described. The device consists of inductive, contact-free positional deviation sensors, enabling the rcbot to track a motion marker. Factors ... -
Direct Yaw Moment, Traction and Power Limit Control of a Four Wheel Independent Drive Electric (4WID-EV) Formula Student Race Car
(Master thesis, 2016)This master's thesis describes the development, implementation and testing of a suite of control systems consisting of torque vectoring, traction control and power limit control for a Formula style race car using four ... -
Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints
(Journal article; Peer reviewed, 2015)This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness ... -
Discrete-Time Backstepping Design Applied to Position Tracking Control of an Electro-Pneumatic Clutch Actuator
(Master thesis, 2007)This thesis investigates different methods of backstepping controller design for an electro-pneumatic clutch actuator used in heavy duty trucks. The first part of the thesis is a literature study, where the subject is ... -
Discrete-Time Repetitive Control With Model-Less FIR Filter Inversion for High Performance Nanopositioning
(Journal article, 2014)Repetitive control (RC) is used to track and reject periodic exogenous signals. RC achieves tracking by incorporating a model of a periodic signal in the feedback path, which provides infinite loop-gain at the harmonic ... -
Discrete-Time Tool for Stability Analysis of DC Power Electronics-Based Cascaded Systems
(Journal article; Peer reviewed, 2017)DC distribution power systems are vulnerable to instability because of the destabilizing effect of converter-controlled constant power loads (CPLs) and input filters. Standard stability analysis tools based on averaging ... -
Discussing benefits and strategies for automation using a macroeconomic stock-flow model and modern monetary theory
(Master thesis, 2020)Denne avhandlingen utvikler et rammeverk for å forstå hvordan automatisering påvirker samfunnet og ser på mulige framtidige utfall ved bruk av en makroøkonomisk stock-flow model som er basert på modern monetary theory. 1. ... -
Discussion on the mode mixing in wave energy control systems using the Hilbert-Huang transform
(Peer reviewed; Journal article, 2019)A great improvement in the absorption of energy of a wave energy converter (WEC) is obtained with a time-varying power take-off (PTO) damping over a constant damping. In a passive control scheme based on the Hilbert-Huang ... -
Distributed Algorithms via Acoustic Marine Communication Gateways
(Bachelor thesis, 2024)Denne rapporten presenterer utviklingen og implementasjonen av et undervannskommunikasjonsystem designet for å forbedre distribuerte optimeringsalgoritmer. Prosjektet bygger på tidligere arbeid som fokuserte på å optimere ... -
Distributed control architecture for real-time model predictive control for system-level harmonic mitigation in power systems
(Journal article; Peer reviewed, 2019)It can be challenging to design and implement Model Predictive Control (MPC) schemes in systems with fast dynamics. As MPCs often introduce high computational loads, it can be hard to assure real-time properties required ... -
Distributed learning for wind farm optimization with Gaussian processes
(Journal article; Peer reviewed, 2020) -
Distributed Model Predictive Control of Interconnected Nonlinear Systems by Dynamic Dual Decomposition
(Chapter, 2014)A suboptimal approach to distributed Nonlinear Model Predictive Control (NMPC) for systems consisting of nonlinear subsystems with nonlinearly coupled dynamics subject to both state and input constraints is proposed. The ... -
Distributed MPC for Formation Path-Following of Multi-Vehicle Systems
(Peer reviewed; Journal article, 2022)The paper considers the problem of formation path-following of multiple vehicles and proposes a solution based on combining distributed model predictive control with parametrizations of the trajectories of the vehicles ... -
Distributed MPC for Peak Power Reduction in Smart Homes
(Master thesis, 2022)I de kommende årene anslås elektrisitetsetterspørselen og andelen ikke-kontrollerbar kraftproduksjon å øke. Forbedret forbrukerfleksibilitet er nødvendig for å imøtekomme økt produksjonsvolatilitet. I Norge i 2022 skal et ... -
Distributed Nonlinear Model Predictive Control by Sequential Linearization and Accelerated Gradient Method
(Journal article; Peer reviewed, 2016)A suboptimal approach to distributed NMPC for nonlinear interconnected systems subject to constraints is proposed. The objective is to develop a computationally efficient approach. The suggested method is based on a ... -
Distributed Optimal Control of DAE Systems: Modeling, Algorithms, and Applications
(Doctoral theses at NTNU;2022:29, Doctoral thesis, 2022) -
Distributed Optimization Based Adaptive Underwater Communication Schemes
(Bachelor thesis, 2023)Denne bacheloroppgaven presenterer utviklingen av et kommunikasjonssystem for EvoLogics modemer som bruker standardprotokollen JANUS for undervannskommunikasjon. Det blir også integrert en optimaliseringsalgoritme for ... -
Distributed Quasi-Nonlinear Model Predictive Control with Contractive Constraint
(Journal article; Peer reviewed, 2018)An approach to low complexity distributed MPC of nonlinear interconnected systems with coupled dynamics subject to both state and input constraints is proposed. It is based on the idea of introducing a contractive constraint ... -
Distributed Real-Time Systems using Lingua Franca and Zephyr RTOS
(Master thesis, 2023)Sanntidssystemer krever nøye design, spesialisert maskinvare, og ofte bruk av små og skalerbare operativsystemer, som for eksempel Zephyr RTOS. Sanntidssystemer er ofte allerede distribuerte, eller kan ha mye nytte av et ... -
Disturbance Attenuation in Linear 2 x 2 Hyperbolic Systems: With Application to the Heave Problem in Managed Pressure Drilling
(Master thesis, 2013)Many physical systems can be modelled using linear 2 x 2 hyperbolic partial differential equations. The act of stabilizing systems of this type hastherefore been subject to extensive research, and a number of techniques ...