A method for generating minimum time yacht routes for short distances while avoiding stationary obstacles and taking into account wave and water current disturbances is sought. The method should be feasible for use in an autopilot type construction. A solution is found using an iterative forumulation of the dynamic programming algorithm on a grided state space and an implementation in ANSI C is pr

In this paper analysis of interconnected dynamical systems are considered. A solid framework for the analysis of the stability of interconnection is given. The results from Fax and Murray (2002) that studies the SISO-case for a constant interconnection matrix are generalized to the MIMO-case where arbitrary interconnection is allowed. The analysis show existence of a separation principle that is v

In this project the control of the gait of a seven degree of freedom biped robot restricted to the sagittal plane is investigated. The gait of the biped is modeled as a hybrid system of four states, corresponding to four relevant phases of the gait. The modeling of the impact between the feet and the ground results in a non-continuous relationship between the coordinate velocities before and after

The work present in this master thesis relates to output feedback adaptive control and observer design of nonlinear systems, and in particular of robot manipulators. A continuous-time velocity observer and a discrete-time adaptive velocity observer for robots are shown, and an observer backstepping controller is also proposed, which can be used together with both the observers. The resulting close

Traditional Ethernet networks are not suitable for real-time communication due to the nondeterministic handling of the network communication. The reason for the nondeterministic behavior is the CSMA/CD access control protocol that is used when the media is shared. The protocol can cause collision in the transmission. If this happens the transmission ceases and after a random amount of time a ret

This master's thesis discusses the real-time issues of the operating system used by the Ericsson Bluetooth stack and the effects of replacing this operating system. The practical part consists of switching the operating system for the Ericsson Bluetooth stack and verifying if it still is operational and fulfils all timing requirements

This report is about the work that we have performed during Autumn 2001 at Botech AB. The purpose with this work was to further develop an existing product named Hubit. Hubit is a compact computer that is running Linux and has limited resources when it comes to memory and storage. Hubit is designed to monitor and collect data from controller systems. The two main objectives that we were about to d

Our problem considered was whether a virtual environment could be used for development of visual servoing control algorithms. We have used a virtual environment for the comparison of several kinds of controllers. The virtual environment is done in Java, and it consists of two industrial robots, IRB 2000 and IRB 6, a camera stereo system with two cameras mounted on the end-effector of the IRB 6, an

The thesis describes the development of a dynamic model of a microturbine system. The thesis is done in close cooperation with Turbec AB and the model is adjusted, tuned and verified against their microturbine T100. The microturbine unit consists of a compressor and a turbine connected on a single shaft to a high-speed generator. Moreover there is a combustion chamber, a recuperator and a gas/wate

Brake-By-Wire means that the hydraulic-mechanical brake system in a car is partly or completely replaced with an electronic/electromechanical brake system. Brake-By-Wire systems are safety critical. A Brake-By-Wire system must also be fault tolerant and have a dependable real-time performance. One communication protocol that is developed to meet these requirements is called TTP/C (Time Triggered P

In this study, it is investigated how different parameters influence 16QAM modulation. The focus is on how different parameters in the Automatic Gain Control algorithm influence raw bit error rates, but other parameters such as frequency error and misplaced decision levels are also investigated. The goal is not to develop optimal parameter configurations, but to gain some understanding on what par

This is a presentation of automatic weight control of a submarine, where the use of nonlinear system components has been considered. The work was done at Lund Institute of Technology, Department of Automatic Control, with Kockums Marine, Malmö as sponsoring organization. The nonlinearities are due to the use of OnOff pump in the controller. This presentation consists of five different controllers.

The work is concerned with analysis of a method for robust adaptive regulation without persistent excitation presented by R. Lozano-Leal. The method is based on a least square identification algorithm with a dead zone. The dead zone is calculated from the covariance matrix and from the convergence of the parameter estimation. A convergence proof gives explicit bounds on the plant output. This wor

The purpose of this master thesis has been to find a simulation model for a crossflow heat exchanger in an air conditioning plant. The air temperature was controlled by changing the relation between hot water and recirculated water from the heat exchanger. The model which was obtained partly from literature studies was based on physical relations describing the heat transfer and energy balance. Th