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Yuan, S. (author)As a special class of hybrid systems, switched systems have attracted a lot of attention in the last decade due to theoretical and practical interests. When controlling switched systems, a ubiquitous problem is the presence of large parametric uncertainties and external disturbances. However, the state of the art on adaptive and robust control...doctoral thesis 2018
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Muhammad Ridho Rosa, Ridho (author)Synchronization of Multi-Agent Systems (MASs) has the potential to benefit many technological<br/>areas such as formation control for unmanned vehicles, cooperative adaptive<br/>cruise control, and spacecraft attitude control. Information plays a crucial role in MASs:<br/>in centralized approaches, a central node utilizes global information to...master thesis 2018
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Ivens, Mark (author)Reset controllers can outperform PID controllers and may introduce phase advantage compared to linear PID control. However, in general, reset controllers do not have the same steady state properties as linear controllers, like removing steady state errors. In case of model mismatches and disturbances, this may cause limit cycles (persisting...master thesis 2018
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Zhou, Y. (author)Reinforcement Learning (RL) methods are relatively new in the field of aerospace guidance, navigation, and control. This dissertation aims to exploit RL methods to improve the autonomy and online learning of aerospace systems with respect to the a priori unknown system and environment, dynamical uncertainties, and partial observability. In the...doctoral thesis 2018
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Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)Self-learning approaches, such as reinforcement learning, offer new possibilities for autonomous control of uncertain or time-varying systems. However, exploring an unknown environment under limited prediction capabilities is a challenge for a learning agent. If the environment is dangerous, free exploration can result in physical damage or in...journal article 2018
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Baldi, S. (author), Papachristodoulou, Antonis (author), Kosmatopoulos, Elias B. (author)In this work we propose a novel adaptive switching strategy for the design of pulse width modulation signals in power converters. Instead of an uncertain averaged model of the power converter, an uncertain switched model is considered, which can better represent the actual power converter dynamics. Uncertainties in the power converters...journal article 2018
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Moustakis, N. (author), Yuan, S. (author), Baldi, S. (author)This paper establishes an adaptive tracking approach for linear systems with parametric uncertainties, when input measurements are quantized due to the presence of a communication network closing the control loop. In order to address the tracking problem, a novel dynamic quantizer with dynamic offset is introduced and embedded into an...conference paper 2018
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Baldi, S. (author)While several robust cooperative output regulation approaches for heterogeneous systems have been proposed (with fixed-gain distributed controllers), the design of adaptive-gain distributed controllers becomes relevant in dealing with larger uncertainty than robust approaches. This letter addresses the adaptive cooperative output regulation...journal article 2018
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Yuan, S. (author), Zhang, Lixian (author), Holub, Ondrej (author), Baldi, S. (author)This letter introduces a new switched adaptive control mechanism that can cope with parametric uncertainty while using discrete and saturated actuators. Control of air handling units (AHUs), where air and water supply have discrete and saturated characteristics, is the motivational drive behind this letter. We show that the cheap actuation...journal article 2018
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Baldi, S. (author), Rosa, Muhammad Ridho (author), Frasca, Paolo (author), Kosmatopoulos, Elias B. (author)Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is...journal article 2018
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Baldi, S. (author), Rosa, Muhammad Ridho (author), Frasca, Paolo (author)Using a setting in which the input is communicated among neighbors (without exchanging any distributed observer variables), the problem of synchronizing an acyclic network of linear uncertain agents has been formulated recently as a distributed model reference adaptive control (MRAC) where each agent tries to converge to the model defined by...journal article 2018
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Moustakis, N. (author), Yuan, S. (author), Baldi, S. (author)This paper addresses the problem of asymptotic tracking for switched linear systems with parametric uncertainties and dwell-time switching, when input measurements are quantized due to the presence of a communication network closing the control loop. The problem is solved via a dynamic quantizer with dynamic offset that, embedded in a model...journal article 2018
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Jagga, Dhruv (author), Lv, Maolong (author), Baldi, S. (author)To guarantee the safety of passengers in a wide range of driving situations, vehicle lateral stability should be achieved in the presence of nonlinear dynamics (consequence of critical maneuvers) and uncertainty (consequence of uncertain parameters). This paper designs a hybrid adaptive strategy to attain vehicle stability in these situations...conference paper 2018
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Braber, T.I. (author)On-board stabilization of quadrotors is often done using an Inertial Measurement Unit (IMU), aided by additional sensors to combat the IMU drift. For example, GPS readings can aid when flying outdoors, or when flying in GPS denied environments, such as indoors, visual information from one or more camera modules can be used. <br/>A single...master thesis 2017
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Pohl, Franz (author)The Variable Camber Continuous Trailing Edge Flap (VCCTEF) is a novel aircraft control system that intents to prevent undesired aeroelastic deflections by precise lift tailoring along the wing span. However, the unknown dynamics and increased complexity of the new hardware imposes difficulties to establish an optimal controller. One approach is...master thesis 2017
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Jagga, Dhruv (author)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...master thesis 2017
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Abou Harfouch, Youssef (author)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...master thesis 2017
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Moustakis, Nikolaos (author)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...master thesis 2017
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- Ho, H.W. (author) doctoral thesis 2017
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Mehmood, H. (author)In existing modular adaptive control approaches, the effects of external disturbances such as atmospheric turbulence are often not considered. In real-life flight applications, stochastic atmospheric disturbances can severely degrade the performance of these approaches, resulting in undesired and unpredictable control behavior. In this thesis,...master thesis 2017