Correct-by-Design Synthesis of Neural Network Controllers

The use of artificial neural networks is becoming ever more ubiquitous as the computational power available to use grows. The widespread implementation of neural networks as controllers in the field of systems and control is however being hindered by the lack of verifiability of these controllers. One type of controller that does not lack...

Localization and Control of a Magnetic Levitation Positioning System

Magnetic levitation is a recent technology which nowadays is used in high-tech systems. It is developed due to the inherent benefits of these type of setups such as lack of wear, friction and problems due to mechanical phenomenon as play and backlash. Achieving higher accelerations and ultra-precise position control while reducing maintenance. ...

Optimal Control for Nonlinear Electromechanical Actuator

The work done in this thesis focused on controller software for the Generic Short Stroke Actuator of Moog B.V. The actuator is controlled by the FCS controller, which makes use of a switched PID controller. This allows arbitrary control over the movement of the Generic Short Stroke Actuator. The FCS controller can switch between a position and...

The impact of event-triggered control on the energy consumption of a legged robot

In event-triggered control (ETC) the control task is only executed when needed to ensure performance or stability. A well known property of ETC is that it can reduce the number of control task executions while retaining similar performance. A large amount of research is focused on how ETC can be used to achieve energy savings in wireless...

Symbolic models for braking systems

LTL specifications for Highway Lane Changing Maneuvers of Highly Automated Vehicles

Since the interest in autonomous driving solutions is massively increasing, the need for good and reliable control algorithms is growing every day. This project studies the performance of safe lane changes of a highly autonomous vehicle given the currently available perception of the environment, vehicle dynamics and desired comfort and speed...

Traffic Characterization of Aperiodic Control Systems

In networked systems, particularly over wireless or shared channels, the scarcity of communication resources makes the application of traditional control strategies with periodic sampling problematic. Alternative approaches with aperiodic sampling, such as: event triggered control and self triggered control, have been recently proposed to reduce...