Computational Strategies for Model Predictive Control on Switching Max-plus Linear Systems

A switching max-plus linear model is a framework to describe the discrete dynamics of the timing of events. To influence these systems one can choose the routes of jobs and the orderings of operations as input for the system. In this thesis the techniques of model predictive control are used to find good input values. The problem of finding the...

Model-based Flight Control for a VTOL Aircraft with Independently Tilting Rotors

This thesis reports on the research and design of a real-time Time-Varying Model Predictive Control (TVMPC) scheme to stabilize a tilt-rotor aircraft with four independently tilting rotors. The aircraft design stems from a prototype system constructed by the drone technology start-up Avy.<br/>First, a motivation is presented for implementation...

Guidance, Navigation and Control of Autonomous Vessels: An Implementation using a Control-Based Framework

This thesis report proposes a framework to implement Navigation, Guidance and Control (GNC) systems, that enable point-to-point autonomy for displacement vessels. A model-based control approach is chosen as the basis of the GNC systems. The resulting algorithms are implemented for verification in a 1:25 scale model of a Azimuth Stern Drive (ASD)...