Damping Identification of an Offshore Wind Turbine: A Predictor-Based Subspace Identification Approach

Increasing the capacity of offshore wind energy is a necessary step in the transition from fossil fuels to renewable energy sources. In order to accelerate this process, the costs of wind energy should be reduced to make it more competitive with traditional energy sources. Cost reduction could be achieved by increasing the lifetime of an...

Design of an above water position determination system for a ship’s hull maintenance robot

Localization is vital for a ship’s hull maintenance robot such as the Fleet Cleaner robot. Not only is it key for automation of the robot, but it is also required to guarantee coverage and to produce inspection reports. Previous work on the position determination focussed on the under water localization and left the above water section as a...

Model-based Individualization of Human-like Steering Controllers: Parameter Estimation of a Cybernetic Steering Model Using Global Optimization Technique

Current autonomous steering controllers are designed based on either optimal control strategies or on average human driver steering behavior. Individual drivers may wish to steer differently than those controllers do. Such conflicts can be mitigated by customizing individual steering behavior. This thesis aims to develop a method to...

Design and Implementation of Adaptive Brake Pressure Controller

Road safety has been the subject of interest for research from the time the first automotive was invented. Safety has been characterized by many factors but the most prominent is maintaining control over the vehicle motion in all situations. Modern safety systems especially Antilock Braking System (ABS) in combination with Electronic Stability...

Control of drilling fluid properties: Density & Viscosity

In the oil and gas industry, safety and efficiency are taken into high regard when obtaining new natural resources. An increasing demand for automation arises to meet with the new safety and efficiency standards. During drilling operations, drilling fluid maintenance has an important role in guaranteeing safety on the rig. Controlling the...

Load-sensing Based Integrated Chassis Control: Using hierarchical strategy and control allocation

Evolution of new technologies, market preferences and vehicle safety standards and regulations motivate the automotive industry to contribute to higher quality mobility and safer transportation for the society. With the compelling development of electronics over the past few decades, passenger cars are equipped with an increasing number of...

Development of a Quick Performance Assessment Method for Active Vibration Isolation Systems: Focusing on Photo-lithography Applications

The performance of high precision applications highly depend on the ability to reject mechanical disturbances. Extreme accuracies can only be achieved if the object can be isolated from its environment. Vibration isolation is the process of isolating an object from the source of vibration. In active vibration isolation, an entire instrument of...

Predictive control for residential capacity controlled heat pumps in a smart grid scenario

Scheduling using max-plus algebra

In industry, discrete models can be used to describe and analyze a class of event driven systems. These so called discrete event systems (DESs) contain a finite number of resources that are shared by different users called jobs. All of these resources and jobs contribute to the achievement of some common goal. Deciding on how to allocate a set...

Linear parameter-varying model identification for flutter prediction

Flutter-induced vibrations can easily cause large structures like airplanes and bridges to fail, which even today makes flutter prediction an important topic of research. To predict flutter, recursive system identification can be used to capture the time-varying behavior using time-invariant techniques combined with the forgetting of old data....

Nonlinear fuzzy observer for payload estimation in physical human-robot interaction

Robotics have developed at a very high rate in the last few years. Industries are becoming capable of automating repetitive procedures without pause, and the production speed and quality are improving everyday. The main drawback of robotics in industry is the inability to deal with slight changes in an environment or in certain object parameters...

Design of an experimental model for a semi-active vibration damping system on a jack-up platform

Jack-up platforms are off-shore structure which are more often placed in deeper water and harsher weather conditions. The consequence is that the natural frequency of the platform coincides with the wave frequency and starts to resonate in its natural frequency. The problem becomes more complicated, due to the fact that the natural frequency of...

Controller-structure optimization using parameter-dependent modal reduced state-space models

Although it is still common in the field of motion control systems to first design the structure and then the controller, integrated design approaches are becoming more popular. The problem of finding optimal parameters for a parameterized structure and controller by solving an optimization problem will be referred to as \textit{controller...

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...

Grey-Box System Identification of a Quadrotor Unmanned Aerial Vehicle

Design and analysis of a model based low level slip controller based on a hybrid braking system

Treats the design an ABS control strategy for a hybrid braking system.

A comparative performance evaluation of nonlinear observers for a fed-batch evaporative crystallization process

Different nonlinear observers are compared throughout this work where they are part of an NMPC framework used to control a fed-batch crystallization process . We study which observer-optimizer pair offers the best control performance while maintaining adequate computational burden so that a posterior real-time implementation is feasible. At the...