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Li, Y. (author), Yorke-Smith, N. (author), Keviczky, T. (author)The efficacy of robust optimal control with adjustable uncertainty sets is verified in several domains under the perfect state information setting. This paper investigates constrained robust optimal control for linear systems with linear cost functions subject to uncertain disturbances and state measurement errors that are both residing in...journal article 2023
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van den Broek, M.J. (author), van den Berg, D.G. (author), Sanderse, Benjamin (author), van Wingerden, J.W. (author)Dynamic induction control is a wind farm flow control strategy that utilises wind turbine thrust variations to accelerate breakdown of the aerodynamic wake and improve downstream turbine performance. However, when floating wind turbines are considered, additional dynamics and challenges appear that make optimal control difficult. In this work...journal article 2023
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Evans, Michael (author), Tindemans, Simon H. (author), Angeli, David (author)This paper proposes a framework for the procurement of flexibility reserve from aggregated storage fleets. It allows for arbitrary tree structures of aggregation hierarchy, as well as easily implementable disaggregation via broadcast dispatch. By coupling discharge and recovery modes, the proposed framework enables full-cycle capacity to be...journal article 2022
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Crossman, Genya (author)Scientific computing and applied mathematics enable the exploration of and, sometimes even, the simplification of complex systems through various optimized modeling and simulation methods. These fields create and utilize computational resources to do so. Many problems, however, are still unsolvable or very difficult to solve with current well...master thesis 2022
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Schropp, Eline (author)Speed trajectories considerably influence vehicular fuel consumption, particularly on signalized roads. To minimize fuel consumption, sharp acceleration/deceleration maneuvers and idling events at signalized intersections should be prevented. By taking advantage of the technological developments in infrastructure-to-vehicle communication, the...master thesis 2022
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in 't Veld, Niels (author)Optimal control is a paradigm for solving optimization problems involving dynamical systems, which are to be controlled. It is able to solve fish harvesting problems, in which we want to optimize harvesting out-take by considering fishing as a control function that acts on the state of the dynamical system, which represents the growth of fish...master thesis 2022
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Swannet, Kilian (author)Interest grows rapidly in electric and hybrid electric aircraft. To determine the optimal performance and energy management required with such novel powertrain configurations, a knowledge-based aircraft and powertrain performance model is developed. The model is then used to set up an optimal control problem, which is transcribed to a non-linear...master thesis 2022
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Pesselse, Mike (author)Inland waterways form a natural network infrastructure with the capacity for waterborne transport of people and goods for moving freight from seaports to the hinterland. Recently, Inland Waterway Transport (IWT) has been promoted more extensively by the European Union and various governments as it plays a crucial role in reducing road congestion...master thesis 2022
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Li, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Wireless ranging measurements have been proposed for enabling multiple Micro Air Vehicles (MAVs) to localize with respect to each other. However, the high-dimensional relative states are weakly observable due to the scalar distance measurement. Hence, the MAVs have degraded relative localization and control performance under unobservable...journal article 2022
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Sun, Junzi (author)Trajectory optimization has been an active area of research for air transport studies for several decades. But almost all flight optimizers proposed in the literature remain close-sourced, which presents a major disadvantage for the advancement of scientific research. This optimization depends on aircraft performance models, emission models, and...journal article 2022
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Armenta, C. (author), Delprat, S. (author), Hawksley, B. (author), Negenborn, R.R. (author)This work proposes a controller design that integrates an Equivalent Consumption Minimization Strategy framework and a quasi-LPV framework. The proposed scheme allows exploiting the characteristics of both frameworks. Also, a proof of the input-state-stability (ISS) of the closed-loop is presented, expressed as linearmatrix-inequality conditions...journal article 2022
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Westenberger, Jelle (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Time-optimal model predictive control is important for achieving fast racing drones but is computationally intensive and thereby rarely used onboard small quadcopters with limited computational resources. In this work, we simplify the optimal control problem (OCP) of the position loop for several maneuvers by exploiting the fact that the...journal article 2022
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Verdier, C.F. (author), Kochdumper, Niklas (author), Althoff, Matthias (author), Mazo, M. (author)We propose a counterexample-guided inductive synthesis framework for the formal synthesis of closed-form sampled-data controllers for nonlinear systems to meet STL specifications over finite-time trajectories. Rather than stating the STL specification for a single initial condition, we consider an (infinite and bounded) set of initial...journal article 2022
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Dimanidis, Ioannis (author)We propose a novel method combining elements of supervised- and Q-learning for the control of dynamical systems subject to unknown disturbances. By using the Inverse Optimization framework and in-hindsight information we can derive a causal parametric optimization policy that approximates a non-causal MPC expert. Furthermore, we propose a new...master thesis 2021
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van Adrichem, Romeo (author)Due to the short shelf-life of flowers (circa 7 days) good inventory management is required to minimize disposals. The trade-off between supplying enough to meet demand yet not too much to prevent expiration is a delicate matter. However, in the current situation uncertainty about inventory levels due to inadequate information and conventional...master thesis 2021
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Suresh Kumar, Sandeep (author)It is anticipated that for the automated driving industry to grow, public acceptance is required. The trust and acceptance of automated vehicles are primarily dependent on the travelling experience of people. In automated vehicles, passengers are expected to be engaged in non-driving tasks that are likely to decrease their predictability of the...master thesis 2021
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Chotalal, Rohan (author)For most robotics applications, optimal control remains a promising solution for solving complex control tasks. One example is the time-optimal flight of Micro Air Vehicles (MAVs), where strict computational requirements fail to resolve such algorithms onboard. Recent work on the use of deep neural networks for guidance and control (G&CNets)...master thesis 2021
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Klein Schiphorst, Jonathan (author)Stability, safety and optimality are often sought-after properties in the field of controller synthesis. In the last century, linear control theory has matured to a level where scalable algorithms are widely available that are able to synthesize controllers with stability and optimality guarantee. However, the synthesis of safe controllers...master thesis 2021
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Westenberger, Jelle (author)Time-optimal model-predictive control is essential in achieving fast and adaptive quadcopter flight. Due to the limited computational performance of onboard hardware, aggressive flight approaches have relied on off-line trajectory optimization processes or non time-optimal methods. In this work we propose a computational efficient model...master thesis 2021
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IOC based trajectory generation to increase human acceptance of robot motions in collaborative tasksHoogerwerf, Eert (author), Bharatheesha, M. (author), Clever, Debora (author)Collaboration between humans and robots is an important aspect of Industry 4.0. It can be improved by incorporating human-like characteristics into robot motion planning. It is assumed that humans move optimal with respect to a certain objective or cost function. To find this function, also for a robot, we use an inverse optimal control...journal article 2021