Publications related to Sliding mode control

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Colin Neil Jones, Bratislav Svetozarevic, Wenjie Xu

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

Elsevier Sci Ltd2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Homothetic Tube Model Predictive Control With Multi-Step Predictors

Giancarlo Ferrari Trecate, Danilo Saccani, Melanie Nicole Zeilinger

We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard MPC formulations by integrating multi-step predictors, which provide reduced ...

Piscataway2023

Dynamic pulse scheduling in ASDEX Upgrade: Disruption avoidance and investigation of the H-Mode density limit

Alessandro Pau, Federico Alberto Alfredo Felici, Bernhard Sieglin

Operation of a tokamak device requires the coordinated operation of a multitude of systems. The sequence of operations during a discharge is both too complex and fast for human interaction. A common way of operation is a predefined sequence of operations w ...

ELSEVIER SCIENCE SA2023

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Aude Billard, Harshit Khurana

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

New York2023

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

Shengquan Xiang

We study the rapid stabilization of the heat equation on the 1-dimensional torus using the backstepping method with a Fredholm transformation. This classical framework allows us to present the backstepping method with Fredholm transformations for the Lapla ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2022

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Giancarlo Ferrari Trecate, Luca Furieri, Clara Lucía Galimberti

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effe ...

IEEE2022

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Sliding mode control

Frequency domain data-driven robust and optimal control

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Homothetic Tube Model Predictive Control With Multi-Step Predictors

Dynamic pulse scheduling in ASDEX Upgrade: Disruption avoidance and investigation of the H-Mode density limit

Self-Correcting Quadratic Programming-Based Robot Control

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Self-Exciting Point Processes: Identification and Control

Graph Chatbot

Chat with Graph Search

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

Frequency domain data-driven robust and optimal control

Dynamic pulse scheduling in ASDEX Upgrade: Disruption avoidance and investigation of the H-Mode density limit

Self-Exciting Point Processes: Identification and Control

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Homothetic Tube Model Predictive Control With Multi-Step Predictors

Self-Correcting Quadratic Programming-Based Robot Control

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints