Searched for: subject:"optimal%5C+control"
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Hoogerwerf, Eert (author)
Human-robot collaboration can be improved if the motions of the robot are more legible and predictable. This can be achieved by making the motions more human-like. It is assumed that humans move optimal with respect to a certain objective or cost function. To find this function an inverse optimal control approach is developed. It uses a bilevel...
master thesis 2018
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Petersen, Co (author)
The most common operational measure in aviation to reduce the effect of environmental noise pollution is noise abatement procedures. Noise abatement procedures are recommended flying techniques based on noise optimal trajectories, which aim at reducing the noise impact on local communities as much as possible. Atmospheric...
master thesis 2018
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Makrygiannis, Nikos (author)
The need for advanced ship propulsion control systems is constantly increasing as the demand for high vessel performance is growing at the same time. Speed trials are considered as an operation during which the vessel has to achieve the highest performance by attaining the agreed maximum ship speed. However, sometimes vessels have to sail in...
master thesis 2018
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Tsutsunava, Nick (author)
Kinodynamic planning is motion planning in state space and aims to satisfy kinematic and dynamic constraints. To reduce its computational cost, a popular approach is to use sampling based methods such as RRT with off-line machine learning for estimating the steering cost and inputs. However, scalability and robustness are still open challenges...
master thesis 2018
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Cirera Rocosa, Ricard (author)
This MSc. thesis explores the design and implementation of a motion planner for non-holonomic autonomous vehicles in parking spaces. The planner must avoid collisions with static obstacles, satisfy performance, comfort and safety constraints for the motion, satisfy the non-holonomic constraints of the vehicle model, consider the dynamics of the...
master thesis 2018
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Radhakrishnan, Kaushik (author)
In the year 2050, global anthropogenic radiative forcing from aircraft emissions are projected to increase significantly. Recent studies have considered climate optimized flight trajectories to be a promising measure to mitigate non-CO2 emissions’ environmental impact, which is highly sensitive to locus and time of emissions. Estimating the...
master thesis 2018
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Saß, Konstantin (author)
Tilt-rotor aircraft combine the helicopter’s benefit of VTOL capability and the flight performance that turboprops possess on range, speed and endurance. Tilt-rotor aircraft have the potential to decrease airport congestion and average flight delay in passenger transportation, while benefits are numerous in i.e. search and rescue, disaster...
master thesis 2018
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Smit, Ruud (author)
Neoclassical economics dictates the decision-making process of economic agents as the mathematical problem of maximizing utility over a prescribed planning horizon. The mathematical similarities with optimal control theory lead to a new interpretation of economic agents as optimal controllers. Pontryagin's maximum principle generates the...
master thesis 2018
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Bussemaker, Jasper (author)
Improving the performance of large transport aircraft requires high aspect ratio and lightweight wings, making aeroelasticity an important factor in wing structural design. Active control of aeroelastic loads can be used to improve the aeroelastic behavior of the wing.

Two active load control techniques are considered: Maneuver Load...
master thesis 2018
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Potdar, Nikhil (author)
Micro Aerial Vehicles (MAVs) are increasingly being used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches to MAV swung payload system path planning have primarily focused on pre-generating (agile) collision-free, or conservative...
master thesis 2018
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Boksebeld, Sander (author)
A Plug-in Hybrid Electric Vehicle (PHEV) can achieve a considerably higher overall fuel economy than conventional vehicles. The fuel economy of PHEVs however, strongly depends on the supervisory control strategy of the hybrid powertrain. Compared to conventional, non-predictive, supervisory control systems, predictive control methods can further...
master thesis 2018
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Paramkusam, Deepak (author)
Kinodynamic motion planning for a robot involves generating a trajectory from a given robot state to goal state while satisfying kinematic and dynamic constraints. Rapidly-exploring Random Trees (RRT) is a sampling-based algorithm that has been widely adopted for this. However, RRT is not fast enough to enable its use in industrial applications....
master thesis 2018
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Stolwijk, Gregorius (author)
A Hybrid Optimal Control (HOC) framework which can be used in conjunction with existing optimal control software is presented. By using hybrid optimal control theory, trajectory optimization problems for systems that are both discrete time and continuous time from a mathematical perspective can be solved. A case study on multi-aircraft formation...
master thesis 2017
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Puttabakula, A. (author)
IT is a known fact that aircraft noise and fuel emissions are the most constraining factors for the growth of aviation. Continuous Descent Arrivals (CDAs) provide significant reductions in fuel consumption and noise footprint on the ground, by following idle thrust descent and eliminating low altitude leveling off. However, limitations such as...
master thesis 2017
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Amara, V.D. (author)
Elastic joints endow robots with advantages including energy-efficiency, safety and performance. To optimally actuate such joints, robotic tasks are formulated as optimal control problems with task objectives and their solutions provide the optimal control policies. However, two general challenges while solving these problems exist. They include...
master thesis 2016
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Wang, Y. (author)
Inverted pendulums have been classic setups in the control laboratories since the 1950s. They were originally used to illustrate ideas in linear control such as stabilization of unstable systems. Because of their nonlinear nature, pendulums have maintained their usefulness and they are now used to illustrate many of the ideas emerging in the...
master thesis 2016
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Munk, J. (author)
In control, the objective is to find a mapping from states to actions that steer a system to a desired reference. A controller can be designed by an engineer, typically using some model of the system or it can be learned by an algorithm. Reinforcement Learning (RL) is one such algorithm. In RL, the controller is an agent that interacts with the...
master thesis 2016
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Arbaciauskas, G. (author)
In this paper we are concerned with distributed optimal control problems governed by a second-order linear and semi-linear elliptic partial differential equations (PDE), where the control is distributed on the domain ?. The semi-linear elliptic boundary value problem is analysed by proving the existence of a unique solution and optimal control...
master thesis 2016
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De Jong, J.W. (author)
In this thesis a problem of determining the optimal pacing strategy to minimize travel time is considered. The problem is restricted to a straight race track with constant slope and rolling resistance, and no headwind. It is expressed as an optimal control problem that can be solved using Pontryagin's Maximum Principle. The control variable is...
master thesis 2015
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Haagen, J.W.M.J. (author)
The ever-increasing use of aircraft, together with the on-going urbanization causes increasing noise nuisance due to aviation. This is attenuated by the positioning of airports close to densely populated areas. For this reason the majority of the large airports in the world indicate that noise is one of the limiting factors in the expansion of...
master thesis 2015
Searched for: subject:"optimal%5C+control"
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