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A new method for the design of fixed-order Linear Parameter Varying (LPV) controllers with polytopic representation for LTI plants is proposed. The stability constraints for the closed-loop system are presented through a set of Linear Matrix Inequalities ( ...
This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leader ...
This thesis proposes a new method to design fixed-order controllers in frequency domain using convex optimization. The method is based on the shaping of open-loop transfer function in the Nyquist diagram with infinity norm constraints on weighted closed-lo ...
Efficient, adaptive and reliable visuomotor control system is crucial to enable robots to display flexibility in the face of changes in the environment. This paper takes inspiration in human eye-arm-hand coordination pattern to develop an equivalently robu ...
This thesis describes a novel digital background calibration scheme for pipelined ADCs with nonlinear interstage gain. Errors caused by the nonlinear gains are corrected in real-time by adaptively post-processing the digital stage outputs. The goal of this ...
This paper deals with input adaptation in dynamic processes in order to guarantee feasible and optimal operation despite the presence of uncertainty. The proposed adaptation consists in using the nominal optimal inputs and adding appropriately designed inp ...
Society for Industrial and Applied Mathematics2012
In this correspondence, we introduce a dual-tree rational-dilation complex wavelet transform for oscillatory signal processing. Like the short-time Fourier transform and the dyadic dual-tree complex wavelet transform, the introduced transform employs quadr ...
We address the problem of steering the output of a nonlinear system along a given parametrized reference path, taking input and state constraints into account. Such problems are known as output path-following problems, which typically arise in vehicle and ...
This paper presents a data-driven controller tuning method that includes a set of constraints for ensuring closed-loop stability. The approach requires a single experiment and can also be applied to nonminimum-phase or unstable systems. The tuning scheme u ...
A method for noise reduction in active-RC circuits is introduced. It is shown that the output noise in an active-RC circuit can be considerably reduced, without disturbing the circuit transfer function by inserting appropriate passive or active components ...
Institute of Electrical and Electronics Engineers2011