Browsing Theses by Subject "Optimal Control"
Now showing items 1-5 of 5
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Near Optimal H-Infinity Performance in the Decentralized Setting
(University of Waterloo, 2015-09-15)In this thesis we consider the use of a linear periodic controller (LPC) for the control of linear time-invariant (LTI) plants in the decentralized setting with an H-infinity performance criterion in mind. If a plant has ... -
Optimal Control and Multibody Dynamic Modelling of Human Musculoskeletal Systems
(University of Waterloo, 2013-05-23)Musculoskeletal dynamics is a branch of biomechanics that takes advantage of interdisciplinary models to describe the relation between muscle actuators and the corresponding motions of the human body. Muscle forces play ... -
Optimal Direction-Dependent Path Planning for Autonomous Vehicles
(University of Waterloo, 2014-04-24)The focus of this thesis is optimal path planning. The path planning problem is posed as an optimal control problem, for which the viscosity solution to the static Hamilton-Jacobi-Bellman (HJB) equation is used to determine ... -
Reconfigurable Integrated Vehicle Stability Control Using Optimal Control Techniques
(University of Waterloo, 2017-09-15)The motivation for the development of vehicle stability control systems comes from the fact that vehicle dynamic behavior in unfavorable driving conditions such as low road-tire adhesion and high speed differs greatly from ... -
Temporal Segmentation of Human Motion for Rehabilitation
(University of Waterloo, 2017-04-27)Current physiotherapy practice relies on visual observation of patient movement for assessment and diagnosis. Automation of motion monitoring has the potential to improve accuracy and reliability, and provide additional ...