Browsing Institutt for teknisk kybernetikk by Title
Now showing items 2417-2436 of 3788
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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 ... -
Nonlinear model predictive control with explicit back-offs for Gaussian process state space models
(Chapter, 2019)Nonlinear model predictive control (NMPC) is an efficient control approach for multivariate nonlinear dynamic systems with process constraints. NMPC does however require a plant model to be available. A powerful tool to ... -
Nonlinear Model Predictive Path-Following Control for fixed-wing Unmanned Aerial Vehicles
(Master thesis, 2021)Denne masteroppgaven studerer path problemet. Path problem refererer til å styre et kjøretøy og deretter holde det nær en forhåndsdefinert geometrisk kurve i et Euclidean space. I motsetning til trajectory tracking er ... -
Nonlinear Model Predictive Pressure Control during Drilling Operations
(Master thesis, 2008)Drilling into mature, depleted fields is often difficult because of tight pressure margins. Increasing the pressure control will enable wells that previously were considered undrillable, to be drilled. Enabling drilling ... -
Nonlinear model-based control of two-phase flow in risers by feedback linearization
(Journal article, 2013)Active control of the production choke valve is the recommended solution to prevent severe slugging flow conditions at offshore oilfields. The slugging flow constitutes an unstable and highly nonlinear system; the gain of ... -
Nonlinear Modeling, Controller and Observer Design for Roll Damping on a Surface Effect Ship with Split Air Cushion
(Master thesis, 2017)For the first time, a controller is presented for roll motion damping, exclusively by the use of air cushion pressure, on a surface effect ship (SES) with a longitudinally split air cushion. The Wave Craft, manufactured ... -
Nonlinear modelling and control of underwater vehicles
(Dr. ingeniøravhandling, 0809-103X; 1999:39, Doctoral thesis, 1991) -
Nonlinear Observer and Control Design for Electropneumatic Clutch Actuator
(Doktoravhandlinger ved NTNU, 1503-8181; 2011:54, Doctoral thesis, 2011)This thesis treats position control of an electropneumatic clutch actuator operated by simple on/off solenoid valves. This clutch actuator is intended for automatic manual transmission systems or clutch-by-wire systems in ... -
Nonlinear observer design for a Greitzer compressor model
(Chapter, 2013)In this paper two different observers for a nonlinear compressor model have been developed and compared: A nonlinear observer based on a circle criterion design and an Extended Kalman Filter. Both of these observers ... -
Nonlinear Observer Design for Aided Inertial Navigation of Ships
(Doctoral theses at NTNU;2017:85, Doctoral thesis, 2017)This thesis focuses on strapdowninertial navigation systems for marine vessels, exploiting low-cost micro-electro-mechanical-systems (MEMS) inertial sensors and nonlinear observers for sensor fusion. The motivation behind ... -
Nonlinear Observer Design for GNSS and IMU Integration
(Master thesis, 2011)In order to efficiently control an unmanned vehicle, knowledge about the position, velocity and attitude (orientation) is needed. This thesis address this problem, and designs a navigation system for local navigation using ... -
Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements
(Journal article; Peer reviewed, 2017)Global navigation satellite system (GNSS) receivers suffer from an internal time-delay of up to several hundred milliseconds leading to a degeneration of position accuracy in high-dynamic systems. With the increasing ... -
Nonlinear Observer for Tightly Coupled Integrated Inertial Navigation Aided by RTK-GNSS Measurements
(Journal article; Peer reviewed, 2018)A modular nonlinear observer is considered for tightly coupled integration of inertial measurements with global satellite measurements. A real-time-kinematic (RTK) approach is utilized where the rover and base station ... -
Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurements
(Journal article; Peer reviewed, 2017)A modular nonlinear observer for inertial navigation aided by pseudo-range measurements is designed and analyzed. The attitude observer is based on a recent nonlinear complementary filter that uses magnetometer and ... -
Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning
(Journal article, 2014)The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation ... -
Nonlinear Observers for Inertial Systems aided by Real-Time Kinematic Global Navigation Satellite Systems
(Doctoral theses at NTNU;2017:61, Doctoral thesis, 2017)This thesis is motivated by recent interest in nonlinear observers for navigation. The field of navigation is dominated by the Kalman filter and its variants. However, nonlinear observers offer some advantages, compared ... -
Nonlinear Observers for Integrated INS/GNSS Navigation – Implementation Aspects
(Journal article, 2017)Navigation is a term with broad usage in everyday life and can mean the act of moving, moving through an unknown environment, ascertaining a craft's position, or even browsing on the Internet. Originally, the term meant ... -
Nonlinear Observers for Parametric Roll
(Master thesis, 2012)Parametric roll resonance is a dangerous resonance phenomenon affecting several kinds of ships, such as cruise ships, fishing vessels and container ships. In a worst case scenario parametric roll resonance may lead to roll ... -
Nonlinear optimization for Hyperparameter computation in Gaussian Processes machine learning
(Master thesis, 2019)Målene til denne masteroppgaven er: 1. Litteraturstudie på Gaussiske Prosesser (GP), Optimeringsteori og metoden av ulineære konjugerte gradienter (NCG). 2. Ny implementasjon av en GP-algoritme i programvare. 3. Analyse ...