Now showing items 1-8 of 8

    • Adaptive Control of a First-Order System Providing Linear-Like Behaviour and Asymptotic Tracking 

      Qazi, Hassaan Ali (University of Waterloo, 2021-07-19)
      Adaptive control is an approach used to deal with systems having uncertain and/or time-varying parameters. In this thesis, we consider the problem of designing an adaptive controller for a discrete-time first-order plant. ...
    • Adaptive Path Following for an Underactuated Nonholonomic Mobile Manipulator 

      Barrera Perez, Orlando Jair (University of Waterloo, 2020-01-17)
      We investigate an adaptive path following problem for an underactuated nonholonomic mobile manipulator system and closed planar curves. As opposed to adapting to uncertain or unknown dynamics in the plant, we apply an ...
    • Algorithmic Transverse Feedback Linearization 

      D'Souza, Rollen (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 ...
    • On Legible and Predictable Robot Navigation in Multi-Agent Environments 

      Bastarache, Jean-Luc (University of Waterloo, 2022-11-24)
      Legibility has recently become an important property to consider in the design of social navigation planners. Legible motion is intent-expressive, which when employed during social robot navigation, allows others to quickly ...
    • Path Following and Output Synchronization of Homogeneous Linear Time-Invariant Systems 

      Steinfeld, Maxwell (University of Waterloo, 2018-04-20)
      This thesis examines two aspects of the path following control design problem for Linear Time-Invariant (L.T.I.) systems assigned closed curves in their output space. In the first part of the thesis we define a path ...
    • Periodic Nonlinear Adaptive Control of Rapidly Time-Varying Linear Systems 

      Simard, Joel David (University of Waterloo, 2018-09-25)
      In adaptive control the goal is to deal with systems that have unknown and/or time-varying parameters. Most techniques are proven for the case in which any time-variation is slow, with results for systems with fast ...
    • A Pursuit Evasion Game Approach to Obstacle Avoidance 

      Wang, Yi Feng (University of Waterloo, 2021-08-27)
      We propose an event triggered obstacle avoidance control scheme that guarantees the safety of a mobile robot in a material transport task at a warehouse. This collision avoidance strategy is based on a pursuer static ...
    • Sampled-Data Control of Invariant Systems on Exponential Lie Groups 

      McCarthy, Philip James (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 ...


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