Multi-Objective Trajectory Optimization for a Scaled Vehicle

The introduction of control systems in the automotive industry has significantly increased safety. Improved control over the vehicle dynamics has been shown to contribute to substantial reductions in the number of deaths and serious injuries resulting from road traffic crashes. The introduction of Electronic Stability Control yielded impressive...

Development of a disturbance compensation controller for an active damping system

ZF Friedrichshafen AG is developing its own active suspension system designed as a single unit per corner to optimize the dynamic behavior of a vehicle. The innovative active damper design integrates all the essential components into one damper unit, with the aim to facilitate implementation. This master thesis in cooperation with ZF...

Fault Diagnosis of Neural Network Modelled Mechanical Systems using a Sparse Bayesian Learning Framework

The increasing complexity of mechanical systems has resulted in an increased usage and dependence on data driven modelling techniques in order to obtain simple yet accurate models of these systems. Neural networks have emerged as a popular modelling choice due to their proven ability to learn complex nonlinear relationships between inputs and...

Modelling and Control of a Scaled Car In and Beyond Stable Limit Handling

Over the past century, cars have become the most important means of transportation. With the increasing number of vehicles on the road, safety has become an important topic. The introduction of driver assistance systems, like Electronic Stability Control, has led to a significant decrease in fatal accidents. By preventing the vehicle from...

Catching Breath: A model-based approach to non-invasive respiratory effort estimation during sleep

Sleep is an immensely important biological function and dysregulated sleep can have severe detrimental effects on health and well-being. Over 80 sleep disorders have been classified and of those sleep apnoea is one of the most common, having a prevalence of at least 20 percent in the general population. Sleep apnoea belongs to a family of...