Browsing Theses by Subject "Robust Control"
Now showing items 1-9 of 9
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Development and Control of a Modular and Reconfigurable Robot with Harmonic Drive Transmission System
(University of Waterloo, 2007-05-22)This thesis presents a detailed design, calibration, and control of a modular and reconfigurable robot (MRR) system. A MRR system not only includes modular mechanical hardware, but also modular electrical hardware, control ... -
Dynamic Modelling and Stability Controller Development for Articulated Steer Vehicles
(University of Waterloo, 2007-01-03)In this study, various stability control systems are developed to remove the lateral instability of a conventional articulated steer vehicle (ASV) during the oscillatory yaw motion or “snaking mode”. First, to identify the ... -
Real-time Autonomous Cruise Control of Connected Plug-in Hybrid Electric Vehicles Under Uncertainty
(University of Waterloo, 2018-09-25)Advances in embedded digital computing and communication networks have enabled the development of automated driving systems. Autonomous cruise control (ACC) and cooperative ACC (CACC) systems are two popular types of these ... -
Robust Distributed Model Predictive Control Strategies of Chemical Processes
(University of Waterloo, 2010-09-27)This work focuses on the robustness issues related to distributed model predictive control (DMPC) strategies in the presence of model uncertainty. The robustness of DMPC with respect to model uncertainty has been identified ... -
Robust Empirical Model-Based Algorithms for Nonlinear Processes
(University of Waterloo, 2010-07-27)This research work proposes two robust empirical model-based predictive control algorithms for nonlinear processes. Chemical process are generally highly nonlinear thus predictive control algorithms that explicitly account ... -
Robust Nonlinear Model Predictive Control using Polynomial Chaos Expansions
(University of Waterloo, 2015-08-13)The performance of model predictive controllers (MPCs) is largely dependent on the accuracy of the model predictions as compared to the actual plant outputs. Irrespective of the model used, first-principles (FP) or empirical, ... -
Statistical Learning and Stochastic Process for Robust Predictive Control of Vehicle Suspension Systems
(University of Waterloo, 2017-09-12)Predictive controllers play an important role in today's industry because of their capability of verifying optimum control signals for nonlinear systems in a real-time fashion. Due to their mathematical properties, such ... -
Uncertainty Analysis and Control of Multiscale Process Systems
(University of Waterloo, 2015-08-13)Microelectronic market imposes tight requirements upon thin film properties, including specific growth rate, surface roughness and thickness of the film. In the thin film deposition process, the microscopic events determine ... -
Vehicle Stability Control Considering the Driver-in-the-Loop
(University of Waterloo, 2016-08-04)A driver‐in‐the‐loop modeling framework is essential for a full analysis of vehicle stability systems. In theory, knowing the vehicle’s desired path (driver’s intention), the problem is reduced to a standard control ...