Concept

Model predictive control

Related publications (610)

Advanced models and algorithms to provide multiple grid services with battery storage systems

Battery energy storage systems (BESSs) are expected to play a major role in the power grid of the near future. These devices, capable of storing and returning electrical energy, are valuable assets to a grid that integrates more and more distributed, inter ...

EPFL2018

Push recovery with stepping strategy based on time-projection control

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed ...

2018

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

Reducing HVDC Network Oscillations Considering Wind Intermittency Through Optimized Grid Expansion Decision

Maryam Kamgarpour, Luca Furieri

This paper considers the evolution of independent offshore HVDC links into a multi-terminal network. It proposes a control strategy to maximize the DC voltage stability under the worst-case perturbation scenario and considers the intermittent nature of the ...

IEEE2018

Adaptation strategies for tracking constraints under plant-model mismatch

Dominique Bonvin, Timm Faulwasser, Martand Singhal

Optimal operating conditions for a process plant are typically obtained via model based optimization. However, due to modeling errors, the operating conditions found are often sub-optimal or, worse, they can violate critical process constraints. Hence, mod ...

ELSEVIER SCIENCE BV2018

Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models

Sylvain Calinon, Ajay Kumar Tanwani, Swati Krishnan

Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the objects, geometric ...

2018

Conic Programming Reformulations of Two-Stage Distributionally Robust Linear Programs over Wasserstein Balls

Daniel Kuhn, Grani Adiwena Hanasusanto

Adaptive robust optimization problems are usually solved approximately by restricting the adaptive decisions to simple parametric decision rules. However, the corresponding approximation error can be substantial. In this paper we show that two-stage robust ...

2018

Stochastic Optimal Control of Epidemic Processes in Networks

Utkarsh Upadhyay, William Trouleau

We approach the development of models and control strategies of susceptible-infected-susceptible (SIS) epidemic processes from the perspective of marked temporal point processes and stochastic optimal control of stochastic differential equations (SDEs) wit ...

2018

Multi-time scale coordination of complementary resources for the provision of ancillary services

Colin Neil Jones, Christophe Salzmann, Tomasz Tadeusz Gorecki, Faran Ahmed Qureshi, Luca Fabietti

This paper presents a predictive control scheme for coordinating a set of heterogeneous and complementary resources at different time scales for the provision of ancillary services. In particular, we combine building thermodynamics (slow), and energy stora ...

2018

Design, Modeling, and Control Methods for Fluid-Mediated Programmable Self-Assembly of Resource-Constrained Robotic Modules

Bahar Haghighat

The newly emerged and quickly growing science of nanotechnology has been recognized as one of ``the twenty-first century's great leaps forward in scientific knowledge''. Self-assembly provides a powerful enabling technique for nanotechnology by providing a ...

EPFL2018

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