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Delft University of Technology
1.
Romagnuolo, Marco (author).
Estimating uncertainties in cooperative networks.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:7e150abe-e736-4eac-9a74-87fd5e18519f 
► The cooperative output regulation problem has attracted considerable attention due to its wide applications in several real life problems; in the past decade, the cooperative…
(more)
▼ The cooperative output regulation problem has attracted considerable attention due to its wide applications in several real life problems; in the past decade, the cooperative control of multi-agent systems has become a trendy topic in the control community. In the cooperative output regulation problem the main purpose consists in achieving reference tracking and disturbance rejection. State-of-the-art methodologies can solve cooperative output regulation only by assuming some critical a priori knowledge: either the exosystem dynamics (e.g. their harmonic frequencies) can be globally shared; or some structural parameters of the communication graph (e.g. structural eigenvalues) are known; or initial stabilizing controllers are available for each system. However, from a practical point of view, it is crucial to develop adaptive methodologies to effectively handle uncertainty in cooperative control of network systems, exploiting as little a priori information as possible. This work addresses and solves the cooperative output regulation problem without exploiting any of the aforementioned critical knowledge. In fact, the distinguishing feature of the proposed solution is to assume an uncertain cooperative scenario where neither follower nor leader dynamics are globally known. In particular, the exosystem dynamics are assumed to correspond to harmonic oscillators with unknown frequencies. Cooperative output regulation is achieved by designing, for each system in the network, fully distributed adaptive controllers, i.e. requiring no knowledge of the structural eigenvalues nor initial stabilizing control law.
Science Systems and Control
Advisors/Committee Members: Baldi, Simone (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Cooperative output regulation; Follower and leader uncertain dynamics; Adaptive control; Distributed exosystem estimator
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APA (6th Edition):
Romagnuolo, M. (. (2018). Estimating uncertainties in cooperative networks. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:7e150abe-e736-4eac-9a74-87fd5e18519f
Chicago Manual of Style (16th Edition):
Romagnuolo, Marco (author). “Estimating uncertainties in cooperative networks.” 2018. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:7e150abe-e736-4eac-9a74-87fd5e18519f.
MLA Handbook (7th Edition):
Romagnuolo, Marco (author). “Estimating uncertainties in cooperative networks.” 2018. Web. 03 Mar 2021.
Vancouver:
Romagnuolo M(. Estimating uncertainties in cooperative networks. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:7e150abe-e736-4eac-9a74-87fd5e18519f.
Council of Science Editors:
Romagnuolo M(. Estimating uncertainties in cooperative networks. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:7e150abe-e736-4eac-9a74-87fd5e18519f
Delft University of Technology
2.
Giammarino, Vittorio (author).
Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:9e19f697-f5bb-4725-b7f4-d079cc7340da
► This thesis provides a theoretical framework for the arise of stop-and-go waves in platoons of Human-driven Vehicles (HVs) on a ring road topology. Possibilities and…
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▼ This thesis provides a theoretical framework for the arise of stop-and-go waves in platoons of Human-driven Vehicles (HVs) on a ring road topology. Possibilities and limitations for traffic control and suppression of such waves via a single Autonomous Vehicle (AV) are considered. Being HVs prone to show string instability, i.e. a type of instability caused by a disturbance acting on one of the vehicles and which is amplified throughout the platoon, the analysis starts from the observation that the standard notion of string stability on a ring road is too demanding for a mixed (human and automated) traffic scenario. Thus, after providing a new definition of string stability on a ring roadway, two directions are pursued. First, only HVs on a ring roadway are considered and their stability/instability analyzed. Second, a mixed-platoon with a single AV and the remaining HVs is placed on the ring and the AV is designed in order to ensure equilibrium stability. By means of this investigation, possibilities and limitations of traffic control via a single AV are emphasized.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Baldi, Simone (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Autonomous Vehicles; Traffic control; String stability; LTI systems Theory; Ring Stability
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APA (6th Edition):
Giammarino, V. (. (2019). Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:9e19f697-f5bb-4725-b7f4-d079cc7340da
Chicago Manual of Style (16th Edition):
Giammarino, Vittorio (author). “Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:9e19f697-f5bb-4725-b7f4-d079cc7340da.
MLA Handbook (7th Edition):
Giammarino, Vittorio (author). “Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle.” 2019. Web. 03 Mar 2021.
Vancouver:
Giammarino V(. Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:9e19f697-f5bb-4725-b7f4-d079cc7340da.
Council of Science Editors:
Giammarino V(. Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:9e19f697-f5bb-4725-b7f4-d079cc7340da
Delft University of Technology
3.
Rosa, Muhammad Ridho (author).
Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8
► Synchronization of Multi-Agent Systems (MASs) has the potential to benefit many technological areas such as formation control for unmanned vehicles, cooperative adaptive cruise control, and…
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▼ Synchronization of Multi-Agent Systems (MASs) has the potential to benefit many technological areas such as formation control for unmanned vehicles, cooperative adaptive cruise control, and spacecraft attitude control. Information plays a crucial role in MASs: in centralized approaches, a central node utilizes global information to achieve synchronization, while in distributed approach agents only utilize local information, i.e. neighbors’ information. A big concern in MASs is the presence of parametric uncertainties (unknown dynamics), which might require adaptive control gains instead of fixed control gains. This work thus provides a novel adaptive distributed control for MASs of heterogeneous agents with unknown dynamics based on model reference adaptive control (MRAC). We study both the synchronization of linear systems and the synchronization of Euler- Lagrange (EL) systems. The implementation of this scheme is based on distributed matching condition assumptions. We study such matching conditions both for the statefeedback case and output-feedback case. Since all matching gains are unknown in view of the unknown dynamics, the gains are adapted online via Lyapunov-based estimation. The asymptotic convergence of the synchronization error is analytically proven by introducing an appropriately defined Lyapunov function, and numerical examples show the effectiveness of the approach. The practical advantage of the proposed distributed MRAC is the possibility of handling unknown dynamics by simply exchanging the states/output, and inputs with neighbors, without any extra auxiliary variables (distributed observer) nor sliding mode. Because of the mutual dependence of control inputs, well-posedness problems will arise in the presence of cyclic communication, if the inputs are generated without a prescribed priority. In this work, we study such well-posedness problems via parameter projection methods.
Embedded Systems
Advisors/Committee Members: Baldi, Simone (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Adaptive control; Uncertain Heterogeneous Agent; Multi-Agent systems; Euler-Lagrange Systems; platooning strategy; UAV; Synchronization
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APA (6th Edition):
Rosa, M. R. (. (2018). Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8
Chicago Manual of Style (16th Edition):
Rosa, Muhammad Ridho (author). “Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach.” 2018. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8.
MLA Handbook (7th Edition):
Rosa, Muhammad Ridho (author). “Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach.” 2018. Web. 03 Mar 2021.
Vancouver:
Rosa MR(. Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8.
Council of Science Editors:
Rosa MR(. Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8
Delft University of Technology
4.
Anninga, Jordy (author).
Implementation of an Adaptive Controller on a Ball Balancing Robot.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:16116759-9f94-497f-a8f4-1635c72c77f1
► A Ball Balancing Robot (BBR) is a highly agile machine which is an unstable system. To stabilize, it uses three omni wheels connected to motors…
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▼ A Ball Balancing Robot (BBR) is a highly agile machine which is an unstable system. To stabilize, it uses three omni wheels connected to motors as an input of the system. Since it has less inputs than outputs, the BBR is an underactuated system. Due to the underactuated character and the non-minimum phase plant, the BBR is an interesting mechanism to study the effectiveness of control design. An adaptive controller will be designed for the BBR such that it can cope with a changing environment, for example added mass to the robot or change of the surface it rides on. Due to the non-minimum phase characteristic of the plant, an Adaptive Pole Placement Controller (APPC) is the most suitable adaptive controller for the BBR. In order to study which adaptive law in combination with the APPC gives the best performance simulations are done. For these simulations a 2D planar model is derived, which is compared and verified with the actual system.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Baldi, Simone (mentor), Delft University of Technology (degree granting institution).
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APA (6th Edition):
Anninga, J. (. (2019). Implementation of an Adaptive Controller on a Ball Balancing Robot. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:16116759-9f94-497f-a8f4-1635c72c77f1
Chicago Manual of Style (16th Edition):
Anninga, Jordy (author). “Implementation of an Adaptive Controller on a Ball Balancing Robot.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:16116759-9f94-497f-a8f4-1635c72c77f1.
MLA Handbook (7th Edition):
Anninga, Jordy (author). “Implementation of an Adaptive Controller on a Ball Balancing Robot.” 2019. Web. 03 Mar 2021.
Vancouver:
Anninga J(. Implementation of an Adaptive Controller on a Ball Balancing Robot. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:16116759-9f94-497f-a8f4-1635c72c77f1.
Council of Science Editors:
Anninga J(. Implementation of an Adaptive Controller on a Ball Balancing Robot. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:16116759-9f94-497f-a8f4-1635c72c77f1
Delft University of Technology
5.
Jain, Vishrut (author).
Longitudinal control for heterogeneous vehicle platooning with uncertain dynamics: Vehicle Platooning.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:ac18005d-3743-4a27-a199-371cb194c80f
► The work presented in this report focuses on longitudinal control of heterogeneous platoon. Firstly, merging maneuver is looked upon, considering heterogeneity in the vehicles i.e.…
(more)
▼ The work presented in this report focuses on longitudinal control of heterogeneous platoon. Firstly, merging maneuver is looked upon, considering heterogeneity in the vehicles i.e. considering different dynamics for the vehicles involved. Then heterogeneity in platoon, arising from the difference in potential limits of the vehicles is taken into account, which the current literature fails to address. The uncertain/heterogeneous dynamics are addressed through the difference in the engine driveline constant, which differs for different vehicles and keeps on changing during operation. The heterogeneity is tackled by using Adaptive control, which adapts to the changing dynamics and estimates the uncertainty to act accordingly. Adaptive strategies for formation keeping in platoons of automated vehicles have been recently proposed; while these strategies are able to cope with uncertain vehicle parameters, they have the drawback of handling only acyclic graphs (e.g. look-ahead topology). This prevents from enhancing formation keeping protocols with more complex platooning maneuvers such as synchronized merging/splitting. This work proposes an adaptive strategy for performing synchronized merging maneuvers in the presence of uncertain vehicle parameters: during these maneuvers, a cyclic communication graph is instantiated, which must be handled in a suitable way. The strategy is framed as a synchronization protocol with a set of adaptive control laws, designed via Lyapunov stability theory. A benchmark scenario in which two platoons formed in different lanes are required to merge, (e.g. due to a lane closure because of roadworks) is presented to show the effectiveness of the proposed strategy. The approach is proven to be scalable to platoons with arbitrary number of vehicles. In later part of the work, a method is proposed which takes the limits of the vehicles into consideration, to make the platooning realistic. An adaptive platooning strategy is used so as the vehicles can adaptively synchronize to desired reference dynamics. In order to handle engine limits, a mechanism is proposed based on making the reference dynamics `not too demanding', by properly saturating their control action. Such saturation action will allow all vehicles in the platoon to remain in their engine potential limits throughout. Another problem that affects the stability of the platoon is that, any perturbations or disturbance in the platoon leaves the vehicle scattered if the vehicles are already running at their potential limits. This work proposes an adaptive platooning method with bi-directional interaction and a mechanism coping with engine constraints. The bi-directional interaction allows the vehicle to not only look at the error in spacing from the preceding vehicle (vehicle in front) but also the succeeding vehicle, this makes the vehicle's control action (acceleration) depend on both front and back errors, the vehicle can thus slow down for the following vehicle if it lags behind. The bi-directional strategy developed is then proved string…
Advisors/Committee Members: Baldi, Simone (mentor), Alirezaei, Mohsen (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Vehicle Platoon; Model Reference Adaptive Control; CACC; Bi-directional CACC
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APA (6th Edition):
Jain, V. (. (2019). Longitudinal control for heterogeneous vehicle platooning with uncertain dynamics: Vehicle Platooning. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ac18005d-3743-4a27-a199-371cb194c80f
Chicago Manual of Style (16th Edition):
Jain, Vishrut (author). “Longitudinal control for heterogeneous vehicle platooning with uncertain dynamics: Vehicle Platooning.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:ac18005d-3743-4a27-a199-371cb194c80f.
MLA Handbook (7th Edition):
Jain, Vishrut (author). “Longitudinal control for heterogeneous vehicle platooning with uncertain dynamics: Vehicle Platooning.” 2019. Web. 03 Mar 2021.
Vancouver:
Jain V(. Longitudinal control for heterogeneous vehicle platooning with uncertain dynamics: Vehicle Platooning. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:ac18005d-3743-4a27-a199-371cb194c80f.
Council of Science Editors:
Jain V(. Longitudinal control for heterogeneous vehicle platooning with uncertain dynamics: Vehicle Platooning. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:ac18005d-3743-4a27-a199-371cb194c80f
Delft University of Technology
6.
Noodelijk, Reinoudt (author).
High-precision control for Constant Distance Scanning Electrochemical Microscopy.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:371d0292-51ba-4b94-b1b0-adb355af23b0
► This Report covers the initial research into modeling the Scanning Electrochemical Microscopy (SECM) system for the purposes of high precision control. The SECM system is…
(more)
▼ This Report covers the initial research into modeling the Scanning Electrochemical Microscopy (SECM) system for the purposes of high precision control. The SECM system is a microscope based around electro-chemical effects. It operates in several modes relating on degrees of conductivity of the involved elements. The control is to be based on the observed additional damping the system experiences in control critical conditions. The improvement of this control is necessary to improve the precision and resolution of the system as well as gaining insight in its physical function. Experiments where conducted using an industry setup of the system. This time with the system was used gather data important for model generation as well as requiring intuition on the intricacies of using the system and what type of precision can be used. Next, mathematical descriptions are developed for all elements of the \ac{SECM} system. First of the electrical components involved in the measurement and subsequently of the physics effecting the system. The approximations are picked with the goal of developing a state space model and maintaining a link to the physical world in its parameters. The most complex and relevant being the effect of hydrodynamic damping which is critical in the observed damping process. It is modeled in the Lagrangian Energy approach, which captures only a part of the dynamics. Some additional factors are still missing. A departure from the homogeneous nature of the model is suggested. Experience with the system has led to increased insight into the systems behavior under various conditions and has provided a stepping stone towards more intricate future modeling attempts. While also providing inspiration for possible model free approaches.
Advisors/Committee Members: Baldi, Simone (mentor), Gonzalez Garcia, Yaiza (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: SECM; Modeling; Control; vibration; damping
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APA (6th Edition):
Noodelijk, R. (. (2017). High-precision control for Constant Distance Scanning Electrochemical Microscopy. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:371d0292-51ba-4b94-b1b0-adb355af23b0
Chicago Manual of Style (16th Edition):
Noodelijk, Reinoudt (author). “High-precision control for Constant Distance Scanning Electrochemical Microscopy.” 2017. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:371d0292-51ba-4b94-b1b0-adb355af23b0.
MLA Handbook (7th Edition):
Noodelijk, Reinoudt (author). “High-precision control for Constant Distance Scanning Electrochemical Microscopy.” 2017. Web. 03 Mar 2021.
Vancouver:
Noodelijk R(. High-precision control for Constant Distance Scanning Electrochemical Microscopy. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:371d0292-51ba-4b94-b1b0-adb355af23b0.
Council of Science Editors:
Noodelijk R(. High-precision control for Constant Distance Scanning Electrochemical Microscopy. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:371d0292-51ba-4b94-b1b0-adb355af23b0
Delft University of Technology
7.
Moustakis, Nikolaos (author).
Adaptive quantized control for uncertain networked systems.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323
► Major advancements over the last few decades in communication networks gave rise to the new paradigm of Networked Control Systems (NCSs). Within this paradigm, sensing…
(more)
▼ Major advancements over the last few decades in communication networks gave rise to the new paradigm of Networked Control Systems (NCSs). Within this paradigm, sensing and actuation signals are exchanged among various parts of a single system or among many subsystems via communication networks. Although this enables one to perform more complex tasks than traditional control paradigms, it comes at the cost of complicating the design phase and the required analysis tools. One of the major challenges when considering a network is quantization effect which affects the performance of any control laws that were designed without taking the network effects into account. Even if the NCS paradigm is well established, few works are available on adaptive methods for NCSs: this MSc thesis establishes novel adaptive control approaches that attain asymptotic tracking for linear systems and switched linear systems with parametric uncertainties, when input measurements are quantized due to the presence of a communication network closing the control loop. In addition to enlarging the class of systems for which the adaptive quantized control can be solved, a hybrid control policy is applied to a novel dynamic quantizer with dynamic offset to address the tracking problem. The MSc thesis is split into two parts: in the first part we consider the model reference adaptive control of a linear uncertain system, where a Lyapunov-based approach is used to derive the adaptive adjustments for the dynamic range, the dynamic offset and the control parameters. In the second part, the approach is extended to switched uncertain linear systems with dwell-time switching, where a new time-varying Lyapunov-like function is adopted: it is proven analytically that the new Lyapunov function we introduce, overcomes the need for zooming-out at every time instant in order to compensate the possible increment of the Lyapunov function. The proposed quantized adaptive control schemes are applied to two benchmark examples: an electro-hydraulic system and the piecewise linear model of the NASA GTM aircraft, respectively.
Advisors/Committee Members: Baldi, Simone (mentor), Yuan, Shuai (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Adaptive control; quantization; networked control systems
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APA ·
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APA (6th Edition):
Moustakis, N. (. (2017). Adaptive quantized control for uncertain networked systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323
Chicago Manual of Style (16th Edition):
Moustakis, Nikolaos (author). “Adaptive quantized control for uncertain networked systems.” 2017. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323.
MLA Handbook (7th Edition):
Moustakis, Nikolaos (author). “Adaptive quantized control for uncertain networked systems.” 2017. Web. 03 Mar 2021.
Vancouver:
Moustakis N(. Adaptive quantized control for uncertain networked systems. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323.
Council of Science Editors:
Moustakis N(. Adaptive quantized control for uncertain networked systems. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:747706ed-afb6-42cd-8fba-fbf8b6665323
Delft University of Technology
8.
Deichler, Anna (author).
Generalization and locality in the AlphaZero algorithm: A study in single agent, fully observable, deterministic environments.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:b922fec8-8085-4757-a91c-c68d840c03bd
► Recently, the AlphaGo algorithm has managed to defeat the top level human player in the game of Go. Achieving professional level performance in the game…
(more)
▼ Recently, the AlphaGo algorithm has managed to defeat the top level human player in the game of Go. Achieving professional level performance in the game of Go has long been considered as an AI milestone. The challenging properties of high state-space complexity, long reward horizon and high action branching factor in the game of Go are also shared by many other complex planning problems, such as robotics applications. This makes the algorithmic solutions of AlphaGo particularly interesting for further research. One of the key innovations in the algorithm is the combination of Monte Carlo tree search (MCTS) with deep learning. The main hypothesis of the thesis is that the success of the algorithm can be attributed to the combination of the generalization capacity of deep neural networks and the local information of tree search. This hypothesis is evaluated through the application of the AlphaZero algorithm (extension of Alphago) in single-player, deterministic and fully-observable reinforcement learning environments. The thesis presents answers to two research questions. First, what changes need to be made to transfer the AlphaZero algorithm to these environments. The changes in the reward support in these new environments can cause failure of learning, since assumption in the MCTS algorithm are violated. The thesis offers solutions that deal with this problem, including adaptive return normalization. The second research question examines what is the relative importance of the locality and generalization in the performance of the AlphaZero algorithm. This research question is answered by comparing the performance of search trees of varying sizes in several RL environments under fixed time budgets. While building small trees support generalization, through allowing more frequent training of the neural network, building larger trees provide more accurate estimates. This creates a trade-off between improved generalization capacity and more accurate local information under a fixed time budget. The experiment results show that mid-size trees achieve the best performance, which suggests that balancing local information and generalization is key to the success of the algorithm. Based on this results, possible extensions to the algorithm are proposed. At last, the thesis also highlights the relevance of the two-component system from a broader perspective and discusses the possible future impact of the algorithm.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Moerland, Thomas (mentor), Baldi, Simone (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Reinforcement learning; Monte Carlo Tree Search; Deep Learning
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APA (6th Edition):
Deichler, A. (. (2019). Generalization and locality in the AlphaZero algorithm: A study in single agent, fully observable, deterministic environments. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b922fec8-8085-4757-a91c-c68d840c03bd
Chicago Manual of Style (16th Edition):
Deichler, Anna (author). “Generalization and locality in the AlphaZero algorithm: A study in single agent, fully observable, deterministic environments.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:b922fec8-8085-4757-a91c-c68d840c03bd.
MLA Handbook (7th Edition):
Deichler, Anna (author). “Generalization and locality in the AlphaZero algorithm: A study in single agent, fully observable, deterministic environments.” 2019. Web. 03 Mar 2021.
Vancouver:
Deichler A(. Generalization and locality in the AlphaZero algorithm: A study in single agent, fully observable, deterministic environments. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:b922fec8-8085-4757-a91c-c68d840c03bd.
Council of Science Editors:
Deichler A(. Generalization and locality in the AlphaZero algorithm: A study in single agent, fully observable, deterministic environments. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:b922fec8-8085-4757-a91c-c68d840c03bd
Delft University of Technology
9.
Thomas, Arun (author).
Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:fde5d464-52d5-449c-8160-52ba9c41b21b
► UnmannedAerial Vehicles(UAVs) have multi-domain applications and fixed-wing UAVs are a widely used class. There is ongoing research on topics in view to optimize the control…
(more)
▼ UnmannedAerial Vehicles(UAVs) have multi-domain applications and fixed-wing UAVs are a widely used class. There is ongoing research on topics in view to optimize the control and guidance of UAVs. This work explores the design, implementation and Software-in-the-Loop validation of an autopilot using adaptive guidance laws with emphasis on formation control of multiple fixed-wing UAVs. The work is done on Raspberry Pis in C++ which can be interfaced to standard autopilots as companion computers. The work splits a mission given by the user into primitive missions and uses an adaptive vector field approach for following it. For formation control, the work implements a discretized version of the Model Reference Adaptive Control synchronisation laws for multi-agent systems. Simulations are done in a distributed setting with a server program designed for the purpose. The server program handles the user inputs and configurations of the UAVs.
Electrical Engineer | Embedded Systems
Advisors/Committee Members: Baldi, Simone (mentor), Verhaegen, Michel (graduation committee), van Genderen, Arjan (graduation committee), Wang, Ximan (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Unmanned Aerial Vehicle; Formation Control; Adaptive Vector Field; synchronization; Autopilot Design
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APA (6th Edition):
Thomas, A. (. (2019). Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:fde5d464-52d5-449c-8160-52ba9c41b21b
Chicago Manual of Style (16th Edition):
Thomas, Arun (author). “Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:fde5d464-52d5-449c-8160-52ba9c41b21b.
MLA Handbook (7th Edition):
Thomas, Arun (author). “Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws.” 2019. Web. 03 Mar 2021.
Vancouver:
Thomas A(. Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:fde5d464-52d5-449c-8160-52ba9c41b21b.
Council of Science Editors:
Thomas A(. Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:fde5d464-52d5-449c-8160-52ba9c41b21b
Delft University of Technology
10.
Singh, Satish (author).
Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:6adc063c-1f27-42a5-8fd5-28fadad660da
► Formation flying is a phenomenon observed very often in the natural world, e.g. birds flying in a flock. The past decade has given a lot…
(more)
▼ Formation flying is a phenomenon observed very often in the natural world, e.g. birds flying in a flock. The past decade has given a lot of emphasis on the research for the control of autonomous Unmanned Aerial Vehicles (UAVs) of the fixed-wing kind, in an effort to emulate the behavior of natural flocks. Emulating this behavior requires the construction of path following and formation control laws with the capability of adapting to changing situations, in a similar way as natural flocks can do. This thesis is devoted to studying Adaptive Vector Field Guidance laws and Adaptive Formation laws for fixed-wing UAVs. Formation control relies on an adaptive hierarchical formation control method for uncertain heterogeneous nonlinear agents with Euler-Lagrange (EL) dynamics. It is shown that various formations (T-V-Y formations) can be established using this method, tested using a Matlab/Simulink environment. Additionally, a distinguishing feature of this thesis is the development of a 3D-Simulation platform to perform a hardware in the loop (HITL) simulations (i.e. using the control hardware on board of an actual UAV): a Raspberry Pi is used to run the formation control algorithm and to communicate with a Pixhawk Cube autopilot board which contains the low-level control algorithm. The autopilot board is then connected to a 3D Simulator (Gazebo) and Ground Control System (QGroundControl). The proposed HITL platform promises to facilitate the testing and validation of guidance and formation laws in a much more realistic way than a Matlab/Simulink environment can do.
Advisors/Committee Members: Baldi, Simone (mentor), Wahls, Sander (graduation committee), van Genderen, Arjan (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Fixed-wing UAVs; Adaptive formation control; Gazebo; software-in-the-loop; PX4
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APA ·
Chicago ·
MLA ·
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CSE |
Export
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APA (6th Edition):
Singh, S. (. (2019). Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:6adc063c-1f27-42a5-8fd5-28fadad660da
Chicago Manual of Style (16th Edition):
Singh, Satish (author). “Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:6adc063c-1f27-42a5-8fd5-28fadad660da.
MLA Handbook (7th Edition):
Singh, Satish (author). “Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs.” 2019. Web. 03 Mar 2021.
Vancouver:
Singh S(. Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:6adc063c-1f27-42a5-8fd5-28fadad660da.
Council of Science Editors:
Singh S(. Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:6adc063c-1f27-42a5-8fd5-28fadad660da
Delft University of Technology
11.
Berger, Niels (author).
Lane Change Path Planning: with State-Dependent Safety Constraints.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f
► In the past years a number of SAE level 2 driving automation systems have come available in commercial vehicles. An example is Volvo's Pilot Assist,…
(more)
▼ In the past years a number of SAE level 2 driving automation systems have come available in commercial vehicles. An example is Volvo's Pilot Assist, which provides a more comfortable journey for the driver as certain parts of the dynamic driving task are taken away, but it still requires the driver to be attentive in order to supervise the system and resume vehicle operation if necessary. Car manufacturers and high-tech companies all around the world are working on the development of an Automated Driving System (ADS) of level 3 or higher where the driver does not need to supervise, but have so far not been able to introduce any to the public. Operating a vehicle on an empty highway is relatively easy, but roads are getting more and more congested so dense traffic driving needs to be accounted for as well. Unsupervised driving does not only require that a system itself operates the vehicle correctly, but requires that it is able to cope with mistakes of other drivers. In order to take these into account as well as other unpredictable events, current driving automation systems tend to adopt large longitudinal margins with respect to surrounding traffic to use their ability to brake to avoid a collision. In dense traffic situations this conservative behaviour prohibits the ADS from making lane changes. This thesis was setup in cooperation with Volvo Cars / Zenuity to develop a lane change path planning algorithm that can plan active lane changes in dense traffic, by pushing into a gap without compromising the ability to avoid a possible collision. Earlier work at Volvo suggested considering the ability of a vehicle to not only brake, but also to make an evasive maneuver. If an evasion maneuver is available the necessary safety margins are reduced considerably compared to a `braking-only' scenario. In this work, the evasive maneuver was modeled and a constraint formulation was developed that if met, guarantees the availability of the designed evasion maneuver. This constraint translates to a state-dependent safety zone which the ADS should keep the vehicle clear off at all times. Model Predictive Control allows the implementation of such a safety zone by considering it as a constraint on the optimisation, guaranteeing that an evasion maneuver is available along any point on the prediction horizon. This negates the necessity to plan all possible evasion maneuvers separately, and it was therefore chosen as the path planning method. Implementation of the safety zone constraint on multiple surrounding vehicles, spread over multiple lanes in a Model Predictive Control framework, together with the requirements of being able to overtake other vehicles within the prediction horizon, necessitated the development of a novel 3-step algorithm. In this algorithm three Optimal Control Problems are solved consecutively to plan a path which positions the ego-vehicle optimally in the targeted gap without breaching the safety zones. To be able to implement the algorithm in…
Advisors/Committee Members: Keviczky, Tamas (mentor), Shyrokau, Barys (graduation committee), Baldi, Simone (graduation committee), Brännstrom, Mattias (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Automated Drving Systems; Model Predictive Control; Nonlinear; Lane Change; Autonomous driving; Self-driving car; Automated driving; Merging
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APA ·
Chicago ·
MLA ·
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CSE |
Export
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APA (6th Edition):
Berger, N. (. (2018). Lane Change Path Planning: with State-Dependent Safety Constraints. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f
Chicago Manual of Style (16th Edition):
Berger, Niels (author). “Lane Change Path Planning: with State-Dependent Safety Constraints.” 2018. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f.
MLA Handbook (7th Edition):
Berger, Niels (author). “Lane Change Path Planning: with State-Dependent Safety Constraints.” 2018. Web. 03 Mar 2021.
Vancouver:
Berger N(. Lane Change Path Planning: with State-Dependent Safety Constraints. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f.
Council of Science Editors:
Berger N(. Lane Change Path Planning: with State-Dependent Safety Constraints. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f
Delft University of Technology
12.
Grimbergen, Sherin (author).
The State Space Formulation of Active Inference: Towards Brain-Inspired Robot Control.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:0f56c37c-d22b-478b-8a85-dca615a8f419
► This thesis provides an exposition of the theory of Active Inference in a control theoretic context. Active Inference is a remarkably powerful neuroscientific theory that…
(more)
▼ This thesis provides an exposition of the theory of Active Inference in a control theoretic context. Active Inference is a remarkably powerful neuroscientific theory that unifies many characteristics of the biological brain. As such, Active Inference provides a valid inspiration in search of improvements in bio-inspired robot control algorithms. The literature on Active Inference however is narrow and complex. The goal of this thesis is to open the door research of Active Inference in robotics, by applying the theory to linear state space systems and exposing the relations and differences with established engineering paradigms. We provide a detailed account of several critical details, mainly the concept of generalized motions, that are commonly not understood from the scientific literature. A start in the performance analysis of the algorithm is made, by studying the effect of changes in several tuning parameters. Additionally, with Active Inference reformulated as a state space control system, it is shown that standard behavior such as stabilization and tracking can be achieved.
Systems and Control | Mechanical Engineering
Advisors/Committee Members: Wisse, Martijn (mentor), Mohajerin Esfahani, Peyman (mentor), Baldi, Simone (graduation committee), Oliehoek, Frans (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Active Inference; Free Energy Principle; State Space Model; Brain-Inspired; Robot Control
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APA ·
Chicago ·
MLA ·
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CSE |
Export
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APA (6th Edition):
Grimbergen, S. (. (2019). The State Space Formulation of Active Inference: Towards Brain-Inspired Robot Control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:0f56c37c-d22b-478b-8a85-dca615a8f419
Chicago Manual of Style (16th Edition):
Grimbergen, Sherin (author). “The State Space Formulation of Active Inference: Towards Brain-Inspired Robot Control.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:0f56c37c-d22b-478b-8a85-dca615a8f419.
MLA Handbook (7th Edition):
Grimbergen, Sherin (author). “The State Space Formulation of Active Inference: Towards Brain-Inspired Robot Control.” 2019. Web. 03 Mar 2021.
Vancouver:
Grimbergen S(. The State Space Formulation of Active Inference: Towards Brain-Inspired Robot Control. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:0f56c37c-d22b-478b-8a85-dca615a8f419.
Council of Science Editors:
Grimbergen S(. The State Space Formulation of Active Inference: Towards Brain-Inspired Robot Control. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:0f56c37c-d22b-478b-8a85-dca615a8f419
Delft University of Technology
13.
Azzollini, Ilario (author).
Adaptive Synchronization over Uncertain Multi-Agent Systems: A distributed homogenization-based approach.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:a93dbba3-4a78-4c6e-bdb3-8cb954911a70
► A challenging task in synchronization of multi-agent systems is steering the network towards a coherent solution when the dynamics of the constituent systems are heterogeneous…
(more)
▼ A challenging task in synchronization of multi-agent systems is steering the network towards a coherent solution when the dynamics of the constituent systems are heterogeneous and residing in a possibly large uncertainty set. In this situation, synchronization can be achieved via adaptive protocols (with adaptive feedback gains, or adaptive coupling gains, or both). However, as state-of-the-art synchronization methods adopt a distributed observer architecture, they require to communicate extra local observer variables among neighbors, in addition to the neighbors' states (or outputs). The distinguishing feature of this work is to show that synchronization in heterogeneous and uncertain multi-agent systems is possible without the need for any distributed observer. This can be achieved by designing adaptive distributed synchronization protocols, based on homogenization reasoning. Specifically, ideal gains are defined (feedback and coupling gains) that could lead all the heterogeneous agents to a desired homogeneous behavior and thus synchronization. However, since these gains are unknown in view of the unknown dynamics, we design adaptive laws for these gains that lead the agents toward synchronization. In this thesis, different control protocols are designed to address both leaderless and leader-follower synchronization of linear multi-agent systems. The protocols are then extended to achieve synchronization over a special class of nonlinear multi-agent systems, whose units are modeled as Kuramoto-like systems. Throughout this work, convergence of the synchronization error to zero is shown via Lyapunov analysis, and numerical examples demonstrate the effectiveness of the proposed protocols.
Systems and Control
Advisors/Committee Members: Baldi, Simone (mentor), Keviczky, Tamas (graduation committee), Steur, Erik (graduation committee), Spaan, Matthijs (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Adaptive control; Distributed control; Multi-Agent systems; Uncertain systems; Synchronization; Kuramoto oscillators
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APA ·
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MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Azzollini, I. (. (2018). Adaptive Synchronization over Uncertain Multi-Agent Systems: A distributed homogenization-based approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:a93dbba3-4a78-4c6e-bdb3-8cb954911a70
Chicago Manual of Style (16th Edition):
Azzollini, Ilario (author). “Adaptive Synchronization over Uncertain Multi-Agent Systems: A distributed homogenization-based approach.” 2018. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:a93dbba3-4a78-4c6e-bdb3-8cb954911a70.
MLA Handbook (7th Edition):
Azzollini, Ilario (author). “Adaptive Synchronization over Uncertain Multi-Agent Systems: A distributed homogenization-based approach.” 2018. Web. 03 Mar 2021.
Vancouver:
Azzollini I(. Adaptive Synchronization over Uncertain Multi-Agent Systems: A distributed homogenization-based approach. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:a93dbba3-4a78-4c6e-bdb3-8cb954911a70.
Council of Science Editors:
Azzollini I(. Adaptive Synchronization over Uncertain Multi-Agent Systems: A distributed homogenization-based approach. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:a93dbba3-4a78-4c6e-bdb3-8cb954911a70
Delft University of Technology
14.
Coimbatore Anand, Sribalaji (author).
Optimal Tracking Strategies for Uncertain Ensembles of Thermostatically Controlled Loads.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:b15f848e-744f-4f22-a1a4-c63c4986d0b8
► Traditional centralized power plants have limited ability to adapt to the varying power demands caused due to the increasing deployment of renewable energy sources. For…
(more)
▼ Traditional centralized power plants have limited ability to adapt to the varying power demands caused due to the increasing deployment of renewable energy sources. For power grids, willing to increase the use of renewable energy and thereby decrease the energy bills, demand side energy management could act as an effective solution. Demand side energy management of the power grid refers to the process of regulating the power demands of the devices it serves. A large fraction of this power demand on the grid lines is caused due to Thermostatically Controlled Loads such as residential refrigerators, electric water heaters, air conditioners, industrial heaters, ovens, etc. Traditionally, the energy management of these devices is achieved using model predictive control and linear quadratic regulation. To better handle the system heterogeneity and computation costs, model-free adaptive control algorithms are explored.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Baldi, Simone (mentor), Grammatico, Sergio (graduation committee), Mohajerin Esfahani, Peyman (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Thermostatically Controlled Load; Demandside energy management; Adaptive optimal control
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APA ·
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APA (6th Edition):
Coimbatore Anand, S. (. (2019). Optimal Tracking Strategies for Uncertain Ensembles of Thermostatically Controlled Loads. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b15f848e-744f-4f22-a1a4-c63c4986d0b8
Chicago Manual of Style (16th Edition):
Coimbatore Anand, Sribalaji (author). “Optimal Tracking Strategies for Uncertain Ensembles of Thermostatically Controlled Loads.” 2019. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:b15f848e-744f-4f22-a1a4-c63c4986d0b8.
MLA Handbook (7th Edition):
Coimbatore Anand, Sribalaji (author). “Optimal Tracking Strategies for Uncertain Ensembles of Thermostatically Controlled Loads.” 2019. Web. 03 Mar 2021.
Vancouver:
Coimbatore Anand S(. Optimal Tracking Strategies for Uncertain Ensembles of Thermostatically Controlled Loads. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:b15f848e-744f-4f22-a1a4-c63c4986d0b8.
Council of Science Editors:
Coimbatore Anand S(. Optimal Tracking Strategies for Uncertain Ensembles of Thermostatically Controlled Loads. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:b15f848e-744f-4f22-a1a4-c63c4986d0b8
Delft University of Technology
15.
Swaminathan, Siva (author).
Modelling and control of Cyber-Physical and Human Systems in an office building.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:c991ae9a-c4f8-4548-ab26-7a03e4618a35
► Heating, Ventilation and Air-Conditioning (HVAC) units in commercial buildings account for a huge portion of global energy consumption. There is an ever growing need to…
(more)
▼ Heating, Ventilation and Air-Conditioning (HVAC) units in commercial buildings account for a huge portion of global energy consumption. There is an ever growing need to optimize the energy consumption of an HVAC system along with a system-of-subsystems entity that must be accurately integrated and controlled by the building automation system to ensure the occupants' comfort with reduced energy consumption. To achieve these goals, it is necessary that accurate models be developed that describe the internal dynamics of the system to employ a satisfactory control architecture. This thesis work aims at provide sufficiently accurate models which are able to estimate the temperature, humidity and Carbon Dioxide dynamics in an occupied room. A simplified linear model which describes the dynamics was developed by reformulating the physical equations into a linear regression format. This was followed by the employment of a suitable identification technique to estimate the physical parameters of the system. The second part of this thesis involves the formulation of a two level control architecture to optimize comfort and energy. In this work we propose a model-based framework to maximize the comfort of the occupants using the Predicted Mean Vote (PMV) index. In particular, the set-point control is based on a predictive controller based on a joint optimization of PMV and energy consumption; the low-level Proportional Integral HVAC controllers are autotuned based on simulations of a thermal model. A simulation based validation via a three room test case is presented: the results show the potential for good temperature tracking with a high degree of comfort while also reducing overall energy consumption.
Systems and Control
Advisors/Committee Members: Baldi, Simone (mentor), Mazo Espinosa, Manuel (graduation committee), Ferrari, Riccardo (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: HVAC Modelling; Thermal comfort control; Smart buildings
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APA ·
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MLA ·
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Export
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APA (6th Edition):
Swaminathan, S. (. (2017). Modelling and control of Cyber-Physical and Human Systems in an office building. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:c991ae9a-c4f8-4548-ab26-7a03e4618a35
Chicago Manual of Style (16th Edition):
Swaminathan, Siva (author). “Modelling and control of Cyber-Physical and Human Systems in an office building.” 2017. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:c991ae9a-c4f8-4548-ab26-7a03e4618a35.
MLA Handbook (7th Edition):
Swaminathan, Siva (author). “Modelling and control of Cyber-Physical and Human Systems in an office building.” 2017. Web. 03 Mar 2021.
Vancouver:
Swaminathan S(. Modelling and control of Cyber-Physical and Human Systems in an office building. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:c991ae9a-c4f8-4548-ab26-7a03e4618a35.
Council of Science Editors:
Swaminathan S(. Modelling and control of Cyber-Physical and Human Systems in an office building. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:c991ae9a-c4f8-4548-ab26-7a03e4618a35
Delft University of Technology
16.
Abou Harfouch, Youssef (author).
Adaptive strategies for platooning.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20
► Automated driving, one of the rapidly growing research topics in the field of smart traffic, has proved to be a recognized solution for potentially improving…
(more)
▼ Automated driving, one of the rapidly growing research topics in the field of smart traffic, has proved to be a recognized solution for potentially improving road throughput and reducing vehicles' energy consumption by grouping individual vehicles into platoons controlled by one leading vehicle. The advances in distributed inter-vehicle communication networks have stimulated a fruitful line of research in Cooperative Adaptive Cruise Control (CACC). In CACC, individual vehicles, grouped into platoons, must automatically adjust their own speed using on-board sensors and communication with the preceding vehicle so as to maintain a safe inter-vehicle distance. The importance of CACC lies in the fact that it enables small inter-vehicle time gaps, which leads to a major reduction of the aerodynamical drag force applied on vehicles in such a driving pattern. Consequently, vehicle emissions, which play a main role in trucks and heavy automobiles, are expected to be highly reduced. However, a crucial limitation of the state-of-the-art research in this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics and perfect engine performance (homogeneous platoon), and possibly an ideal communication channel. Thus, the objective of this MSc thesis is to address the problem of CACC for heterogeneous platoons under realistic inter-vehicle network conditions. In the first part, we propose a novel CACC strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability for uncertain heterogeneous platoons under ideal inter-vehicle network conditions. In the second part, in order to handle the inevitable communication losses, we formulate an extended average dwell-time framework and design an adaptive switched control strategy which activates an augmented CACC or an augmented Adaptive Cruise Control strategy depending on communication reliability. Stability of the proposed control strategies is proven analytically and simulations are conducted to validate the theoretical analysis.
Advisors/Committee Members: Baldi, Simone (mentor), Yuan, Shuai (mentor), Verhaegen, Michel (graduation committee), Alonso Mora, Javier (graduation committee), Wang, Meng (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Heterogeneous platooning; Cooperative adaptive cruise control; Adaptive control; Switched control
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APA (6th Edition):
Abou Harfouch, Y. (. (2017). Adaptive strategies for platooning. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20
Chicago Manual of Style (16th Edition):
Abou Harfouch, Youssef (author). “Adaptive strategies for platooning.” 2017. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20.
MLA Handbook (7th Edition):
Abou Harfouch, Youssef (author). “Adaptive strategies for platooning.” 2017. Web. 03 Mar 2021.
Vancouver:
Abou Harfouch Y(. Adaptive strategies for platooning. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20.
Council of Science Editors:
Abou Harfouch Y(. Adaptive strategies for platooning. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20
Delft University of Technology
17.
Jagga, Dhruv (author).
Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149
► Extensive advancements in the field of mobility and safety in transportation in last few decades have acted as a catalyst for the expansion of automobile…
(more)
▼ Extensive advancements in the field of mobility and safety in transportation in last few decades have acted as a catalyst for the expansion of automobile industry. The research for the evolution of new technologies, vehicle safety regulations and specifications and the market requirements has given this progress a greater push. The passenger cars these days are equipped with ample collection of active safety systems such as Anti-lock Braking Systems (ABS), Electronic Stability Program (ESP), Active Front Steering (AFS) and many more. The amalgamation of these active safety systems in the vehicle chassis allows the vehicle to accomplish the desired stability. Both academia and industry understood the requirement of more research in the field of vehicle industry. This leads to the comprehensive enhancement in the field of research and development with respect to integrated chassis control (ICC). The new research delivered some remarkable advantages to this industry, such as cost reduction of the complete system, multi-objective performance growth, hardware entanglement, fault-tolerant capability and system plausibility. Despite the huge diversity in research of integrated chassis, there are certain adaptive design methods which can be used to enhance the ICC performance. This dissertation intends to provide a methodology to fully exploit the nonlinear dynamics of the vehicle concerning the forces in between tire and road surface and to discuss the integration of AFS and ESP. It establishes a novel adaptive control approach in order to attain asymptotic tracking for switched affine vehicle models with parameter uncertainties and disturbances acting on the model. This, therefore, will help to attain the desired performance. Further, comparisonwith strategies that merely exploits the linear region of the vehicle dynamics are discussed, and performance improvements of the proposed methodology are assessed. Finally, analytically the endurance of the prospective control strategy is proven and simulations are conducted to validate the theoretical analysis.
Advisors/Committee Members: Baldi, Simone (mentor), van den Boom, Ton (graduation committee), Shyrokau, Barys (graduation committee), Yuan, Shuai (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Hybrid adaptive control; Integrated Chassis Control; PWA vehicle model; Vehicle dynamics; Vehicle control; Lateral stability control
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APA (6th Edition):
Jagga, D. (. (2017). Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149
Chicago Manual of Style (16th Edition):
Jagga, Dhruv (author). “Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty.” 2017. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149.
MLA Handbook (7th Edition):
Jagga, Dhruv (author). “Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty.” 2017. Web. 03 Mar 2021.
Vancouver:
Jagga D(. Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149.
Council of Science Editors:
Jagga D(. Hybrid Adaptive Integrated Chassis Control: vehicle lateral stability in presence of uncertainty. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:cf390823-a97c-49ae-a507-857f5cec7149
Delft University of Technology
18.
Chen, Linda (author).
Development of CRONE reset control.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5
► In high-tech industry (sub)nanometre precision motion control is essential. For example wafer scanners, used for production of integrated circuits, have to provide (sub)nanometre precision positioning…
(more)
▼ In high-tech industry (sub)nanometre precision motion control is essential. For example wafer scanners, used for production of integrated circuits, have to provide (sub)nanometre precision positioning whilst satisfying challenging requirements on speed at the same time. It is in demanding cases like this that different requirements begin to conflict with each other. A fundamental trade-off between robustness and performance exists as an inevitable result of the waterbed effect in linear control. PID controllers, which have been an industry-standard for many years, do not satisfy the ever increasing demands. In this MSc thesis a novel reset control synthesis method is proposed: CRONE reset control, which combines a robust fractional CRONE controller (Commande Robuste d’Ordre Non-Entier) with non-linear reset control to overcome waterbed effect. In CRONE control, robustness is achieved against gain deviations by creation of constant phase behaviour around bandwidth with the use of fractional operators. The use of fractional operators also introduces more freedom in shaping the open- loop frequency response, allowing fractional factors in Bode’s gain-phase relation. However, waterbed effect remains, which motivates introduction of non-linear reset control in the CRONE design. In reset control, controller states are reset when the error between output- and reference- signal is zero. In frequency domain, using describing function analysis it is predicted that reset filters generate less phase lag for similar gain behaviour. For instance, a reset integrator gives a phase lag of about 38 degrees, which is 52 degrees less compared to the linear integrator. This allows for relief from Bode’s gain-phase relation, breaking aforementioned trade-offs. In the new controller design, reset phase advantage is approximated using describing function analysis and used to achieve better open-loop shape. New design rules for CRONE reset control have been developed in this thesis. Three different reset control strategies have been investigated: integrator reset, lag reset and lead- lag/lag-lead reset. For these controllers, a two-degree-of-freedom non-linearity tuning CRONE reset control structure has been developed. This control structure has been implemented digitally within a MATLAB/Simulink environment on a Lorentz-actuated (dual) precision stage via a real-time dSPACE DS1103 controller interface. For the implemented controllers sufficient quadratic stability has been shown using the Hβ-condition. It has been shown that simulated frequency responses using describing function correspond well to experimental identified frequency responses. Moreover, frequency domain measurements have shown that better performance for CRONE reset control can be achieved for same phase margin compared to linear CRONE. Relief from both waterbed effect and Bode’s gain-phase relation has been accomplished. Furthermore, for the same bandwidth, average noise reduction between 1.79dB and 3.93dB has been attained at a number of distinct…
Advisors/Committee Members: Saikumar, Niranjan (mentor), Hossein Nia Kani, Hassan (mentor), Baldi, Simone (mentor), van Wingerden, Jan-Willem (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: reset control; describing function analysis; loop shaping; fractional order control; CRONE; robust control; precision positioning
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APA (6th Edition):
Chen, L. (. (2017). Development of CRONE reset control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5
Chicago Manual of Style (16th Edition):
Chen, Linda (author). “Development of CRONE reset control.” 2017. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5.
MLA Handbook (7th Edition):
Chen, Linda (author). “Development of CRONE reset control.” 2017. Web. 03 Mar 2021.
Vancouver:
Chen L(. Development of CRONE reset control. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5.
Council of Science Editors:
Chen L(. Development of CRONE reset control. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5
Delft University of Technology
19.
Sorgedrager, Riemer (author).
Automated malaria diagnosis using convolutional neural networks in an on-field setting: The analysis of low quality smartphone based microscope images.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:7def1a99-8a56-4875-8dfd-73e57869dec1
► This study focuses on automated malaria diagnosis in low quality blood smear images, captured by a low-cost smartphone based microscope system. The aim is to…
(more)
▼ This study focuses on automated malaria diagnosis in low quality blood smear images, captured by a low-cost smartphone based microscope system. The aim is to localize and classify the healthy and infected erythrocytes (red blood cells) in order to evaluate the parasitaemia in an infected blood smear. Due to the lower quality of the smartphone microscope system compared to traditional high-end light microscopes, conventional algorithms fail to process these images. We propose a framework using a convolutional neural network as a pixel classifier to localize the erythrocytes. Afterwards we classify them accordingly, using a convolutional neural network as an object classifier. Such a system can offer in the-field malaria diagnosis without human intervention or can act as an aid for human experts to lower workload and increase diagnosis accuracy. The algorithm successfully localizes the erythrocytes with an average sensitivity of 97.31% and precision of 92.21%. Classification performed inadequate, in terms of low agreement with two human experts. This can be due to the low image quality or the small amount of training data available at the time.
OSMD
Systems and Control
Advisors/Committee Members: Verhaegen, Michel (mentor), Agbana, Tope (graduation committee), Bliek, Laurens (graduation committee), Vdovine, Gleb (graduation committee), Baldi, Simone (graduation committee), Kober, Jens (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Malaria Detection; Convolutional Neural Networks; Artifical neural networks; Deep learning; Localization; Classification; smartphone based microscope; Automated
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APA ·
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APA (6th Edition):
Sorgedrager, R. (. (2018). Automated malaria diagnosis using convolutional neural networks in an on-field setting: The analysis of low quality smartphone based microscope images. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:7def1a99-8a56-4875-8dfd-73e57869dec1
Chicago Manual of Style (16th Edition):
Sorgedrager, Riemer (author). “Automated malaria diagnosis using convolutional neural networks in an on-field setting: The analysis of low quality smartphone based microscope images.” 2018. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:7def1a99-8a56-4875-8dfd-73e57869dec1.
MLA Handbook (7th Edition):
Sorgedrager, Riemer (author). “Automated malaria diagnosis using convolutional neural networks in an on-field setting: The analysis of low quality smartphone based microscope images.” 2018. Web. 03 Mar 2021.
Vancouver:
Sorgedrager R(. Automated malaria diagnosis using convolutional neural networks in an on-field setting: The analysis of low quality smartphone based microscope images. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:7def1a99-8a56-4875-8dfd-73e57869dec1.
Council of Science Editors:
Sorgedrager R(. Automated malaria diagnosis using convolutional neural networks in an on-field setting: The analysis of low quality smartphone based microscope images. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:7def1a99-8a56-4875-8dfd-73e57869dec1
Delft University of Technology
20.
Chandiramani, Jayesh (author).
Decision Making under Uncertainty for Automated Vehicles in Urban Situations.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:b8339e46-0fde-48bc-a050-ec204c208e20
► One of the most crucial links to building an autonomous system is the task of decision making. The ability of a vehicle to make robust…
(more)
▼ One of the most crucial links to building an autonomous system is the task of decision making. The ability of a vehicle to make robust decisions on its own by predicting and assessing future consequences is what makes it intelligent. This task of decision making becomes even more complex due to the fact that the real world is uncertain, continuous and vehicles interact with each other. Sensors that perceive the real world and measure quantities such as position and speed of other traffic objects are inherently noisy and are further susceptible to external conditions. On the other hand, the road users’ intentions are stochastic and not measurable, and the presence of partial or complete vision based occlusions can make any measurements obtained useless. The decision making unit thus has to be aware of these issues and use the limited knowledge available to anticipate future situations that could unfold in an infinite number of ways to then maximize a reward (or minimize a cost). In this thesis, a method to make automated longitudinal decisions along a predetermined path for autonomous vehicles in unsignalized urban scenarios is proposed. The decision mak- ing problem is formulated as a continuous Partially Observable Markov Decision Process (POMDP) with a discrete Bayesian Network estimating the behavior of other traffic objects. The future evolution of states are predicted using a multi-model Trajectory Estimator along with the digital map of the current driving area. Since continuous spaces make the belief space infinitely large, calculation of the value function for this problem becomes computa- tionally intractable. The presented solver algorithm approximates the value function instead of computing it directly, and additional optimizations reduce the belief space exploration area in order to improve performance. The results show that this single generalized framework is able to handle all the tested urban scenarios with a good safety margin in scenes with multiple traffic objects, even under zero visibility of the other traffic objects due to the presence of occlusions.
Systems and Control
Advisors/Committee Members: Baldi, Simone (mentor), Sefati, Mohsen (mentor), Keviczky, Tamas (graduation committee), Ferranti, Laura (graduation committee), Happee, Riender (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Autonomous driving; Decision making; Uncertainty; POMDP; Bayesian networks; Occlusion
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APA ·
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APA (6th Edition):
Chandiramani, J. (. (2017). Decision Making under Uncertainty for Automated Vehicles in Urban Situations. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b8339e46-0fde-48bc-a050-ec204c208e20
Chicago Manual of Style (16th Edition):
Chandiramani, Jayesh (author). “Decision Making under Uncertainty for Automated Vehicles in Urban Situations.” 2017. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:b8339e46-0fde-48bc-a050-ec204c208e20.
MLA Handbook (7th Edition):
Chandiramani, Jayesh (author). “Decision Making under Uncertainty for Automated Vehicles in Urban Situations.” 2017. Web. 03 Mar 2021.
Vancouver:
Chandiramani J(. Decision Making under Uncertainty for Automated Vehicles in Urban Situations. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:b8339e46-0fde-48bc-a050-ec204c208e20.
Council of Science Editors:
Chandiramani J(. Decision Making under Uncertainty for Automated Vehicles in Urban Situations. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:b8339e46-0fde-48bc-a050-ec204c208e20
Delft University of Technology
21.
Pretagostini, Francesco (author).
Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:b8e4041c-6939-4d1d-a66e-9c0e2496e416
► Over the past century, cars have become a fundamental part of our society. With the increasingly larger number of vehicles on the road, safety is,…
(more)
▼ Over the past century, cars have become a fundamental part of our society. With the increasingly larger number of vehicles on the road, safety is, now more than ever, a topic of paramount importance. It is estimated that every year 26,000 people are killed on European roads, corresponding to a social cost of 100 billion euros. In the last two decades, awareness about this issue has however increased substantially, and great effort is now put into improving these numbers. The introduction of driver assistance systems in recent years has led to a significant decrease in fatal accidents. One of the first implemented ones was Anti-lock Braking System (ABS), introduced on the market in 1978. ABS is an active safety system nowadays mandated on every new car sold in Europe. By preventing wheel lock during emergency braking, the system allows for shorter braking distances and steering ability retention. Despite the fact that forty years went by since ABS introduction, the control strategy behind it has changed very little, still retaining a rule-based approach. Extensive review of literature of the subject, highlighted the possibility that significant improvements could be achieved if the control strategy was to be redesigned in a way that takes advantage of the many technological improvements achieved in the last decade. The aim in this thesis is to verify this statement and quantify any potential improvement in Anti-lock Braking System. In order to achieve the research objective, a novel ABS algorithm was designed. The controller, based on state-of-the-art hardware, uses a model predictive control approach and potentially available wheel force information as the pillars of its design. A supervisory activation logic is also developed to replicate full ABS functionalities and keep the driver in the loop. The controller is then tested on Toyota’s high-end vehicle simulator and benchmarked against the current industrial state of the art. The vehicle simulator has its core in a multibody model augmented with kinematics and compliance measurements, and it is largely validated against experiments. A complex multi-physics model of the brake system, together with the short wavelength rigid ring tire model, complete the setup. A comprehensive set of manoeuvres, including friction jumps and rough road braking scenarios, is developed to assess performance and robustness of the proposed controller. Additionally, a list of aspect-specific performance metrics is drafted and deployed to accurately investigate the simulations results and identify relative gains with respect to the benchmark in different instances of the braking manoeuvre. The analysis showed substantial reduction of the braking distance and improved steering ability in each of the simulated scenarios. Furthermore, robustness of the controller against external factors, such as high frequency noise generated by road irregularities or friction transitions, is demonstrated to be comparable to that of industrial state of the art controllers. Based on the now…
Advisors/Committee Members: Shyrokau, Barys (mentor), Berardo, Giovanni (graduation committee), Babuska, Robert (graduation committee), Baldi, Simone (graduation committee), Ferranti, Laura (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Anti-lock braking system; Model Predictive Control; Braking; Slip control; Load Sensing Bearings; Rule-based control; Automotive; Toyota
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APA ·
Chicago ·
MLA ·
Vancouver ·
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Export
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APA (6th Edition):
Pretagostini, F. (. (2018). Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b8e4041c-6939-4d1d-a66e-9c0e2496e416
Chicago Manual of Style (16th Edition):
Pretagostini, Francesco (author). “Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information.” 2018. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:b8e4041c-6939-4d1d-a66e-9c0e2496e416.
MLA Handbook (7th Edition):
Pretagostini, Francesco (author). “Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information.” 2018. Web. 03 Mar 2021.
Vancouver:
Pretagostini F(. Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:b8e4041c-6939-4d1d-a66e-9c0e2496e416.
Council of Science Editors:
Pretagostini F(. Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:b8e4041c-6939-4d1d-a66e-9c0e2496e416
. 
Open Access Theses and Dissertations