Concept

Adaptive control

Related publications (314)

Design and control of quadrotors with application to autonomous flying

This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such syste ...

EPFL2007

Efficient point location via subdivision walking with application to explicit MPC

Colin Neil Jones, Yang Wang

An explicit (or closed-form) solution to Model Predictive Control (MPC) results in a polyhedral subdivision of the state-space when the system and constraints are linear, and the cost is linear or quadratic. Within each region the optimal control law is an ...

2007

A Fully Analytical PEM Fuel Cell System Model for Control Applications

Alfred Rufer, Félix Grasser

Maintaining a fuel cell (FC) system in correct operating conditions when subjected to fast load changes requires good system control. The best results are typically achieved using model-based control strategies. This paper elaborates a control-oriented pro ...

2007

Robust PID controller tuning with specifications on the infinity-norm of sensitivity functions

Alireza Karimi, Roland Longchamp, Daniel Garcia

An overview of the recent works on proportional integral derivative (PID) controller tuning methods based on specifications on the infinity-norm of the sensitivity functions is presented. The presented approach is very flexible relative to the controller s ...

2007

Noniterative Data-driven Controller Tuning Using the Correlation Approach

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

Data-driven controller tuning for model reference control problem is investigated. A new controller tuning scheme for linear time-invariant single- input single-output systems is proposed. The method, which is based on the correlation approach, uses a sing ...

2007

Robust Pole Placement of Systems with Polytopic Uncertainty Via Convex Optimization

Alireza Karimi, Roland Longchamp, Hamid Khatibi

Convex parameterization of fixed-order robust stabilizing controllers for systems with polytopic uncertainty is represented as an LMI using KYP Lemma. This parameterization is a convex inner-approximation of the whole non-convex set of stabilizing controll ...

2007

A Two-Time-Scale Control Scheme for Fast Systems

Dominique Bonvin, Philippe Müllhaupt, Sébastien Gros, Davide Buccieri

Model predictive control (MPC) is a very effective approach to control nonlinear systems, especially when the systems are high dimensional and/or constrained. MPC formulates the problem of input trajectory generation as an optimization problem. However, du ...

2007

Control schemes based on the wave equation for consensus in multi-agent systems with double-integrator dynamics

Giancarlo Ferrari Trecate

In this paper, we consider the problem of driving a group of agents communicating through an undirected and weighted network towards a consensus point. We assume that agents obey to double-integrator dynamics and study decentralized control schemes for con ...

2007

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Auke Ijspeert, Alessandro Crespi

This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the n ...

IEEE2007

Cooperative dynamics of loyal customers in queueing networks

Max-Olivier Hongler, Olivier Gallay

We consider queueing networks (QN) with feedback loops roamed by "intelligent" agents, able to select their routing on the basis of their measured waiting times at the QN nodes. This is an idealized model to discuss the dynamics of customers who stay loyal ...

2007

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