Faculty Advisor or Committee Member

Cagdas D. Onal, Advisor

Faculty Advisor or Committee Member

Gregory S. Fischer, Committee Member

Faculty Advisor or Committee Member

Umberto Mosco, Committee Member

Faculty Advisor or Committee Member

Marcus Sarkis-Martins, Committee Member

Identifier

etd-121118-120147

Abstract

Limitations imposed on control functions can significantly affect the performance of a linear controller. When applied to the real physical system, such limitations convert a linear function to a nonlinear input signal that alters the convergence or stability of the solution. The main focus of this study is to identify, classify and propose appropriate techniques to overcome such problems. In this regard, we propose an exact definition for a conditionally controllable problem and investigate control function formulations for such problems under the lenses of planning-based and optimization-based methods.

Publisher

Worcester Polytechnic Institute

Degree Name

PhD

Department

Robotics Engineering

Project Type

Dissertation

Date Accepted

2018-10-24

Accessibility

Unrestricted

Subjects

control motion-planning input limitations conditional controllability

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