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
Copyright Statement
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work, subject to other agreements. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted.
Accessibility
Unrestricted
Repository Citation
Ghorbani Faal, S. (2018). Perspectives in control of conditionally controllable problems. Retrieved from https://digitalcommons.wpi.edu/etd-dissertations/495
Subjects
control motion-planning input limitations conditional controllability