서브메뉴
검색
Robust Hierarchical Control With Connected Layers- [electronic resource]
![Robust Hierarchical Control With Connected Layers - [electronic resource]](/Users/Baul/Images/book.png)
Robust Hierarchical Control With Connected Layers- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214101506
- ISBN
- 9798380368773
- DDC
- 621
- 서명/저자
- Robust Hierarchical Control With Connected Layers - [electronic resource]
- 발행사항
- [S.l.]: : University of California, Berkeley., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(101 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-03, Section: B.
- 주기사항
- Advisor: Arcak, Murat.
- 학위논문주기
- Thesis (Ph.D.)--University of California, Berkeley, 2023.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약Complex systems, such as autonomous vehicles and missile guidance systems, use hierarchical control schemes where each control layer employs a different system model. This approach enhances computational efficiency because using a simpler model in the higher-level control layer reduces computation times, enabling real-time control strategies. This dissertation presents a framework in which a lower-fidelity planning model is employed for online planning, and a tracking controller, synthesized offline, keeps the tracking error between the high-fidelity ("tracking") model and the planning model within a bounded set. To ensure safety, the error that arises from the different models in each control layer is rigorously accounted for through augmentation of the planner safety constraints with the tracking error bound.Accommodating more sources of real-world uncertainty enhances the safety and usefulness of the control scheme. We next describe a robust extension which utilizes integral quadratic constraints to accommodate input uncertainties such as unknown delays or unmodeled actuator dynamics in the tracking model. Finally, through a case study of shared vehicle control between a human driver and a supervisory autonomous system in longitudinal driving scenarios, we present a novel method called Driver-in-the-Loop Contingency MPC that leverages simplified dynamics to compute invariant sets that guarantee safety with respect to other vehicles. This contribution can be viewed as adding robustness to other agents in the planning layer.
- 일반주제명
- Mechanical engineering.
- 일반주제명
- Computer engineering.
- 일반주제명
- Automotive engineering.
- 키워드
- Tracking
- 키워드
- Complex systems
- 키워드
- Augmentation
- 기타저자
- University of California, Berkeley Mechanical Engineering
- 기본자료저록
- Dissertations Abstracts International. 85-03B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008240612s2023 us |||||||||||||||c||eng d■001000016933914
■00520240214101506
■006m o d
■007cr#unu||||||||
■020 ▼a9798380368773
■035 ▼a(MiAaPQ)AAI30567415
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a621
■1001 ▼aSchweidel, Katherine.
■24510▼aRobust Hierarchical Control With Connected Layers▼h[electronic resource]
■260 ▼a[S.l.]:▼bUniversity of California, Berkeley. ▼c2023
■260 1▼aAnn Arbor :▼bProQuest Dissertations & Theses, ▼c2023
■300 ▼a1 online resource(101 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 85-03, Section: B.
■500 ▼aAdvisor: Arcak, Murat.
■5021 ▼aThesis (Ph.D.)--University of California, Berkeley, 2023.
■506 ▼aThis item must not be sold to any third party vendors.
■520 ▼aComplex systems, such as autonomous vehicles and missile guidance systems, use hierarchical control schemes where each control layer employs a different system model. This approach enhances computational efficiency because using a simpler model in the higher-level control layer reduces computation times, enabling real-time control strategies. This dissertation presents a framework in which a lower-fidelity planning model is employed for online planning, and a tracking controller, synthesized offline, keeps the tracking error between the high-fidelity ("tracking") model and the planning model within a bounded set. To ensure safety, the error that arises from the different models in each control layer is rigorously accounted for through augmentation of the planner safety constraints with the tracking error bound.Accommodating more sources of real-world uncertainty enhances the safety and usefulness of the control scheme. We next describe a robust extension which utilizes integral quadratic constraints to accommodate input uncertainties such as unknown delays or unmodeled actuator dynamics in the tracking model. Finally, through a case study of shared vehicle control between a human driver and a supervisory autonomous system in longitudinal driving scenarios, we present a novel method called Driver-in-the-Loop Contingency MPC that leverages simplified dynamics to compute invariant sets that guarantee safety with respect to other vehicles. This contribution can be viewed as adding robustness to other agents in the planning layer.
■590 ▼aSchool code: 0028.
■650 4▼aMechanical engineering.
■650 4▼aComputer engineering.
■650 4▼aAutomotive engineering.
■653 ▼aTracking
■653 ▼aComplex systems
■653 ▼aAutonomous vehicles
■653 ▼aHierarchical control
■653 ▼aAugmentation
■690 ▼a0548
■690 ▼a0464
■690 ▼a0540
■71020▼aUniversity of California, Berkeley▼bMechanical Engineering.
■7730 ▼tDissertations Abstracts International▼g85-03B.
■773 ▼tDissertation Abstract International
■790 ▼a0028
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16933914▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
