Browsing Theses by Subject "nonlinear control"
Now showing items 1-8 of 8
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Adaptive Motion Estimation and Control of Intelligent Walkers
(University of Waterloo, 2015-07-10)One of the most critical factors in the quality of elderly lives is their ability to move. As the size of the ageing society grows, more elderly people suffer from walking impairments. Most of them prefer to stay at home ... -
Algorithmic Transverse Feedback Linearization
(University of Waterloo, 2022-04-26)The feedback equivalence problem, that there exists a state and feedback transformation between two control systems, has been used to solve a wide range of problems both in linear and nonlinear control theory. Its significance ... -
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 ... -
Gait shape control for 2-D.O.F bipedal robots using hybrid virtual holonomic constraints
(University of Waterloo, 2014-07-29)Motion control for bipedal robots is an active research area because bipedal robots can perform tasks and work in terrain where wheeled robots cannot. Researchers have developed bipedal robots that are able to walk, run ... -
Nonlinear Model Predictive Control Reduction Strategies for Real-time Optimal Control
(University of Waterloo, 2019-04-15)This thesis presents a variety of strategies to accelerate the turnaround times (TATs) of nonlinear and hybrid model predictive controllers (MPCs). These strategies are unified by the themes of symbolic computing, nonlinear ... -
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 ... -
Sampled-Data Control of Invariant Systems on Exponential Lie Groups
(University of Waterloo, 2019-08-28)This thesis examines the dynamics and control of a class of systems furnished by kinematic systems on exponential matrix Lie groups, when the plant evolves in continuous-time, but whose controller is implemented in ... -
Stabilization of Discrete-time Systems With Bounded Control Inputs
(University of Waterloo, 2000)In this paper we examine the stabilization of LTI discrete-time systems with control input constraints in the form of saturation nonlinearities. This kind of constraint is usually introduced to simulate the effect of ...