Control System Development for a Gastric Retention and Injection Device for Autonomous Urgent Care Therapy

Time-sensitive medical emergencies resulting from the entry of harmful agents into the body require immediate and urgent medical attention to prevent irreversible symptoms or fatalities. However, the current process for urgent care relies on human intervention, which can introduce significant delays and potentially compromise the effectiveness...

Data-Driven Stability Verification of Homogeneous Nonlinear Systems with Unknown Dynamics

In this work, we propose a data-driven approach for the stability analysis of discrete-time homogeneous nonlinear systems with unknown models. The proposed framework is based on constructing Lyapunov functions via a set of data, collected from trajectories of unknown systems, while providing an a-priori guaranteed confidence on the stability of...

Implementation of sensorless field oriented motor control in a solar car

In this thesis the implementation of Field Oriented Control in the car of the NUON Solar Team will be discussed. The team decided to do research into the possibilities of a custom motor controller, and this thesis covers the beginning of that process. First a comparison between different control methods is made, and sensorless FOC is decided as...

Stability analysis and efficiency of EMPC for Type-1 systems

Experience mapping based predictive controller (EMPC) is a recently developed controller based on the concepts of Human Motor Control. It has been demonstrated to out-perform other classical controllers like proportional-derivative (PD), model reference based adaptive controller (MRAC), linear quadratic regulator (LQR) and the linear...