Friction is present in all mechanical systems and causes a wide range of problems for control. The development of friction models and methods to account for friction in control has been an active research area for many years. A promising friction model that is capable of describing a wide array of observed friction phenomena is the LuGre model. This thesis deals with the application of friction co

Real time information about the current road surface (friction coefficient) would be of great help for most of the vehicle systems of today. Vehicle stability systems like ABS and ESP would perform considerable better with friction knowledge. Dynamic All Wheel Drive torque distributors would, with friction knowledge, substantially enhance the behavior of the vehicle. In this thesis an enhancement

The eagerness among astronomers to gain deeper knowledge and further understanding of the universe around us sets requirements for future telescopes.Images of more distant stars with higher spatial resolution is desired. Extremely Large Telescopes (ELTs) are being developed for this purpose. An example is a European collaboration that is developing an ELT called the Euro50. To obtain the desired r

In libraries today there is a need to faster and more efficient loan books without the need of clerks. Radio Frequency Identification is used to solve this problem. To make everything automatic and still safe a special system of doors will be used scanning all the angles. A light grid is used to determine when a person wants to leave the library. A connection to the libraries database is establish

Todays, industrial robots don't correspond to the needs of the Small and Medium sized Enterprises (SME). Indeed, industrial robots are in many cases too hard to program or too expensive to be used by this kind of enterprises. In order to respond to this need, a European project was created, regrouping five major European robot manufacturers and five leading research institute and universities,

This work is focused on a system which aims at estimating and attenuating side wind acting on a vehicle. The side wind disturbance is estimated using a disturbance observer. This thesis investigates the robustness towards sensor offset and parameter error. A few possibilities for reducing the effects of sensor offset are presented. A large part of the thesis is dedicated to on line identification

The purpose of this Master's Thesis was to compare and coordinate active chassis systems in a search for new ways of controlling two driving situations; side wind exposure and split friction braking. These situations were to be mastered by three active systems; active steering, brakes and suspension. Examples of how to use the systems were presented for each driving situation. The results from

A wheel loader is a tractor-like universal working machine with a bucket in the front which can be used for digging, loading and transporting different type of material. A driver of such a vehicle needs a lot of training and experience before he can handle the vehicle in a safe and efficient way. In order to reduce these demands on the driver, the vehicle should be made more autonomous. As a first

The aircraft of today use electrical fly-by-wire systems for manoeuvring. These safety-critical distributed systems are called flight control systems and put high requirements on the communication networks that interconnect the parts of the systems. Reliability, predictability, flexibility, low weight and cost are important factors that all need to be taken in to consideration when designing a saf

This thesis presents, analyzes and suggests solutions to the dead-lock problem of the sensorless variable speed drive NFO Sinus. Friction, measurement, parameter estimation and quantization effects are believed possible origins of this problem and is hence studied. A short introduction to field oriented control of the asynchronous AC motor and the NFO Control strategy is also included

In this thesis a model of the drying process in a paper mill has been adapted to paper machine 3 at Hylte Mill. The model is mainly based on a previous work by my supervisor Ola Slätteke PhD (at the Department of Automatic Control). New models have also been developed for the condensate system, e.g. condensate tanks, pumps, pipes and siphons. Models with a control system for the drying process hav

In a wireless communication system, the channel is ever changing due to multipath properties such as excess delays and constructive and destructive interference. In a step to optimize system performance, it would be beneficial to have access to channel state information of both present subchannels' future development and subchannels outside the currently used frequency interval. In this thesis

The objective with the master thesis project is to develop an Electronic Batch Record (EBR) solution for the AstraZeneca TPS division and map it to the ISA 95 model for Manufacturing Execution System s (MES). The EBR solution in addition to current and new manufacturing systems will form an AstraZeneca TPS model for MES, which can be used for further evaluation and system development guidance. The

The goal of this semester project was to set up the mathematical model for the simplified process of the spherical pendulum, develop a simulation model of the process in Modelica that could then also be animated in 3D, and finally, design a controller for the process. The simplification is that the pendulum cannot turn about its own axis. For the Modelica model, a Pendulum Library, with the essent

Testing of control code written in IEC 61131-3 has long been a strenuous manual process. The focus in this master's thesis is on building a simulator of an Alfa Laval separator to enable testing of control code. In this particular case, the control code being tested is written and executed in a soft PLC called TwinCAT. The simulator for testing code is written in C#. When testing code, automat

At the department of Automatic Control at Lund Institute of Technology a mobile robot has to be assembled. The capabilities of the vehicle comprises a possibility to control it via internet with the help of a Java-applet as well as a function that realizes an autonomous navigation through a predefined environment. The first part of this work deals with the implementation of the remote control func

The topic of this master thesis is cooperative robots. The master and slave configuration is to be used for cooperative tasks and the task chosen is to move a flexible beam together. A trajectory is fed to the master robot to move it to the desired positions. The slave robot then follows the movement of the master robot by force control using force measurements from a force sensor. All experiments

The aim of this project is to control a double linked inverted pendulum called the "Pendubot". A cascade control scheme has been developed at Laboratoire d'Automatique (EPFL) for this purpose. The structure of the cascade scheme is: Input-output feedback linearization and a linear controller in the inner-loop to assure the control of the fi-angle, the outer loop is responsible for st

The current generation of earth-based telescopes has been of great use to astronomers for the past decades. New fields of astrophysics like the search for and analysis of earth-like planets would however need telescopes with even better resolution. These telescopes are called Extremely Large Telescopes and an ongoing project to develop such a telescope is the Euro50 project. For the Euro50 telesco

The process of hydro plant is on first sight easy to understand and well documented. Development of new control strategies could be accordingly based on that knowledge and trial and error approach at the commissioning. This traditional approach shows to be time consuming and expensive. Plant models available are often obsolete as they are simplified for the narrow linear range of the working area