Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs

Formation flying is a phenomenon observed very often in the natural world, e.g. birds flying in a flock. The past decade has given a lot of emphasis on the research for the control of autonomous Unmanned Aerial Vehicles (UAVs) of the fixed-wing kind, in an effort to emulate the behavior of natural flocks. Emulating this behavior requires the...

Implementation of an Adaptive Controller on a Ball Balancing Robot

A Ball Balancing Robot (BBR) is a highly agile machine which is an unstable system. To stabilize, it uses three omni wheels connected to motors as an input of the system. Since it has less inputs than outputs, the BBR is an underactuated system. Due to the underactuated character and the non-minimum phase plant, the BBR is an interesting...

Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle

This thesis provides a theoretical framework for the arise of stop-and-go waves in platoons of Human-driven Vehicles (HVs) on a ring road topology. Possibilities and limitations for traffic control and suppression of such waves via a single Autonomous Vehicle (AV) are considered. Being HVs prone to show string instability, i.e. a type of...

Longitudinal control for heterogeneous vehicle platooning with uncertain dynamics: Vehicle Platooning

The work presented in this report focuses on longitudinal control of heterogeneous platoon. Firstly, merging maneuver is looked upon, considering heterogeneity in the vehicles i.e. considering different dynamics for the vehicles involved. Then heterogeneity in platoon, arising from the difference in potential limits of the vehicles is taken into...

Optimal Tracking Strategies for Uncertain Ensembles of Thermostatically Controlled Loads

Traditional centralized power plants have limited ability to adapt to the varying power demands caused due to the increasing deployment of renewable energy sources. For power grids, willing to increase the use of renewable energy and thereby decrease the energy bills, demand side energy management could act as an effective solution. Demand side...

Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty

Extensive advancements in the field of mobility and safety in transportation in last few decades<br/>have acted as a catalyst for the expansion of automobile industry. The research for the evolution<br/>of new technologies, vehicle safety regulations and specifications and the market requirements<br/>has given this progress a greater push. The...

Adaptive strategies for platooning

Automated driving, one of the rapidly growing research topics in the field of smart traffic, has proved to be a recognized solution for potentially improving road throughput and reducing vehicles' energy consumption by grouping individual vehicles into platoons controlled by one leading vehicle. <br/><br/>The advances in distributed inter...

Adaptive quantized control for uncertain networked systems

Major advancements over the last few decades in communication networks gave rise to the<br/>new paradigm of Networked Control Systems (NCSs). Within this paradigm, sensing and<br/>actuation signals are exchanged among various parts of a single system or among many<br/>subsystems via communication networks. Although this enables one to perform...

High-precision control for Constant Distance Scanning Electrochemical Microscopy

This Report covers the initial research into modeling the Scanning Electrochemical Microscopy (SECM) system for the purposes of high precision control. The SECM system is a microscope based around electro-chemical effects. It operates in several modes relating on degrees of conductivity of the involved elements. The control is to be based on the...