Cooperative Multi-Vessel Systems for Waterborne Transport

This PhD thesis investigates V2V, V2I, and I2I cooperation of CMVSs for improving the safety and efficiency of waterborne transport. A predictive motion control framework and a generic negotiation framework are proposed to achieve consensus among controllers. Different applications provide insights into the impact of CMVSs on the performance of...

Modeling, robust and distributed model predictive control for freeway networks

In Model Predictive Control (MPC) for traffic networks, traffic models are crucial since they are used as prediction models for determining the optimal control actions. In order to reduce the computational complexity of MPC for traffic networks, macroscopic traffic models are often used instead of microscopic traffic models. These macroscopic...

Modeling and Control of Switching Max-Plus-Linear Systems: Rescheduling of railway traffic and changing gaits in legged locomotion

The operation of many systems can be described by the timing of events. When the system behavior can be described by equations that are "linear'' in the max-plus algebra, which has maximization and addition as its basic operations, the system is called a max-plus-linear system. In many of these systems the order of the events may need to be...