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Title: Adaptive multivariable intermittent control : theory, development, and applications to real-time systems
Author: Álvarez Martín, José Alberto
ISNI:       0000 0004 7224 2711
Awarding Body: University of Glasgow
Current Institution: University of Glasgow
Date of Award: 2018
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Intermittent Control, as a control scheme that switches between open and closed-loop configurations, has been suggested as an alternative model to describe human control and to explain the intermittency observed during sustained control tasks. Additionally, IC might be beneficial in the following scenarios: 1 - in the field of robotics, where open-loop evolution could be used for computationally intensive tasks such as constrained optimisation routines, 2 - in an adaptation context, helping to detect system and environmental variations. Based on these ideas, this thesis explored the application of real-time multivariable intermittent controllers in humanoid robotics as well as adaptive versions of IC implemented on inverted pendulum structures.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available
Keywords: TA Engineering (General). Civil engineering (General)