Estimation and Control of Autonomous Vehicles Over Networks
Stubbs, Andrew
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Permalink
https://hdl.handle.net/2142/83829
Description
Title
Estimation and Control of Autonomous Vehicles Over Networks
Author(s)
Stubbs, Andrew
Issue Date
2005
Doctoral Committee Chair(s)
Dullerud, Geir E.
Department of Study
Mechanical Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Mechanical
Language
eng
Abstract
A controller synthesis is developed using LMIs to find the controller which minimizes the H2 norm of the response of a system to noise. This method uses sampled-data system theory to take into account a continuous plant and a discrete controller. Although this synthesis was motivated by the HoTDeC testbed it is applicable to all continuous multi-rate linear time varying systems.
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