Browsing Theses by Subject "optimal control"
Now showing items 1-15 of 15
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Application of Nonlinear Model Predictive Control to Holonomic Mobile Robots without Terminal Constraints or Costs
(University of Waterloo, 2020-09-01)The use of mobile robots greatly enhances the capability and versatility of industrial robots compared to their fixed counterpart. However, successfully deploying autonomous mobile robots is challenging and requires accurate ... -
Control techniques in spin based quantum computation
(University of Waterloo, 2019-07-11)Working on quantum systems entail different interests, for example, working on fundamental understanding of quantum systems also lay foundation for better quantum computation techniques. A test for whether a system is ... -
Dynamics and Model-Based Control of Balance Recovery in Humans Using Lower-Limb Exoskeletons
(University of Waterloo, 2023-12-22)In the past decade, powered robotic lower-limb exoskeletons have emerged as an exciting technological advancement, offering enhancements in mobility and quality of life for individuals with physical impairments. While the ... -
Ecological Control and Coordination of Connected and Automated PHEVs at Roundabouts under Uncertainty
(University of Waterloo, 2019-12-20)During the last decade, comprehensive research efforts were concentrated on autonomous driving. Annually, many car accidents happen as a result of human faults. Extreme traffic congestion prolongs commute time, increase ... -
Environment Modeling, Action Classification, and Control for Urban Automated Driving
(University of Waterloo, 2022-12-23)This thesis discusses the design and implementation of WATonomous' Automated Driving Stack (ADS), which is capable of performing robo-taxi services in specific operational domains when deployed to WATonomous' research ... -
Model-based Reinforcement Learning of Nonlinear Dynamical Systems
(University of Waterloo, 2022-01-25)Model-based Reinforcement Learning (MBRL) techniques accelerate the learning task by employing a transition model to make predictions. In this dissertation, we present novel techniques for online learning of unknown dynamics ... -
Multiple-Model Robust Adaptive Vehicle Motion Control
(University of Waterloo, 2019-08-28)An improvement in active safety control systems has become necessary to assist drivers in unfavorable driving conditions. In these conditions, the dynamic of the vehicle shows rather different respond to driver command. ... -
A neural model of the motor control system
(University of Waterloo, 2015-01-16)In this thesis I present the Recurrent Error-driven Adaptive Control Hierarchy (REACH); a large-scale spiking neuron model of the motor cortices and cerebellum of the motor control system. The REACH model consists of ... -
Nonlinear Optimal Control of Automated Vehicles in a Connected Environment
(University of Waterloo, 2019-09-12)This thesis is based around the University of Waterloo EcoCAR Team (UWAFT) and the EcoCAR Mobility Challenge. The overall objective of the competition is to design and build a hybrid electric vehicle with SAE Level 2 ... -
A Predictive Control Method for Human Upper-Limb Motion: Graph-Theoretic Modelling, Dynamic Optimization, and Experimental Investigations
(University of Waterloo, 2000)Optimal control methods are applied to mechanical models in order to predict the control strategies in human arm movements. Optimality criteria are used to determine unique controls for a biomechanical model of the human ... -
Predictive Dynamic Simulation of Cycling Using Olympic Cyclist and Bicycle Models
(University of Waterloo, 2018-09-04)Predictive dynamic simulation is a useful tool for analyzing human movement and optimizing performance. Such simulations do not require experimental data collection and provide the opportunity to analyze a variety of ... -
Real-time Energy Management of a Battery Electric Vehicle Hybridized with Supercapacitor
(University of Waterloo, 2017-01-25)The increased interest in electric vehicles (EVs) in the recent years has intrigued numerous research, on improving efficiency and reducing ownership costs of these vehicles. As the battery in EVs is the sole energy provider, ... -
Recovering Optimal Cost Functions for Natural Walking: From Musculoskeletal Simulation to Exoskeleton Control
(University of Waterloo, 2022-05-03)Human movement studies have contributed to our understanding of how the central nervous system's (CNS) interactions with our body results in rich and complex motor behaviours, such as human gait. Such understanding is ... -
Simulation and mitigation of noise in Rydberg atom systems using quantum optimal control
(University of Waterloo, 2021-02-18)We design a quantum optimal control protocol to mitigate the noise in Rydberg atom systems. -
Towards geriatric use of exoskeletons: Improving human-device interaction with a tutorial and optimal control
(University of Waterloo, 2023-05-05)With the global geriatric population expected to reach 1.5 billion by 2050, there has been growing interest to tackle age-associated movement impairments by developing assistive technologies. Rehabilitative lower-limb ...