All-Wheel Torque Vectoring for Driver-in-the-Loop Drifting

Drifting, a specialized form of sideslip control, involves intentionally inducing and maintaining a state of oversteer for lateral sliding of the vehicle. While previous research has primarily focused on autonomous drift control, the integration of the driver in the control loop remains largely unexplored. This thesis aims to explore how a...

The Impact of Wind Shear and Turbulence on the Loads and Performance of Wind Turbines

Operating in real-world conditions, modern large capacity wind turbines often experience off-design situations, enduring dynamic loads characterized by complex unsteady aerodynamics. Key among the challenges in predicting these dynamic loads is understanding the effects of wind shear and turbulence, both individually and in their complex...

Noise robustness improvement of reset control systems using measurement line filtering

Inherent limitations of linear control, including PID, are Bode's phase-gain relationship and the waterbed-effect. Literature showed that reset control can overcome these limitations. The 'Constant in Gain, Lead in Phase' (CgLp) reset element was developed, which can be used in combination with a conventional PID approach. The benefit is that...

Bathymetry SLAM using reduced rank Gaussian Processes and DVL range measurements: For real-time underwater position estimation

Underwater position estimation is challenging due to the absence of Global Navigation Satellite System (GNSS) signals. Underwater vehicles are typically equipped with a Doppler Velocity Log (DVL) that measures the velocity relative to the seafloor. Aside from the velocity, the DVL also measures the range of each of the four beams. When compared...

Dynamic behaviour of a propulsion plant and its controller: with Hardware In the Loop

The shipping industry is forced to reduce its emissions and underwater radiated noise in order to decrease the impact on the environment and limit global warming. Moreover, a low acoustic signature can be lifesaving for a navy ship, especially during submarine on mine threats. To be able to operate as flexible as possible under these threats, a...

Automatic Tuning of Wind Tubrine controller

The energy demand in current times has increased greatly in last few years. This increasing demand calls for a sustainable and clean energy resource that would reduce the load on non-renewable resources. Wind energy is a renewable resource which is harnessed by mankind from an ancient era. So as to meet this increasing energy demands, innovation...

Human-like control for offshore excavators

Offshore excavators are large hydraulically driven machines which are difficult to control due to slow dynamics, inherent nonlinearities, a varying environment and complex kinematics. As digging is performed under water, only limited visual feedback of the task can be provided by means of a visualization interface. Operators require an extensive...