Modeling and control principles for a tentacle-like surgical instrument

In this project a challenge in the field of minimally invasive surgery is addressed. Contemporary minimally invasive instruments usually consist of a rigid beam with an end effector on one side and a controlling mechanism on the other. These instruments work well for cases when the body can be entered in such a way that the target, on which to...

Switched LQR control: Design of a general framework

This thesis studies the Switched Linear Quadratic Regulator (SLQR) problem, over a hybrid (continuous and discrete) dynamical model known as "switched system". The problem is defined as computing the optimal continuous and discrete switching control to minimise a quadratic cost function that weights the states and the continuous controls. The...

Receding Horizon Control of Perturbed Railway Network Operation

Railway networks, such as the one in the Netherlands, form an important means of transportation, both for passengers, as well as for transporting goods. Train services carrying passengers often run according to a predefined schedule or timetable. When those train services are delayed, for example due to accidents or malfunctioning rolling stock,...

Fast optimization-based control and estimation using operator splitting methods

The size of modern technological systems has grown significantly and the need for fast, online optimization-based control is a necessity. The complexity of these systems along with the need for increased accuracy in the computed outcome dictate the usage of optimization methods for the computation of the solution. Besides this, new data arrive...