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The effects of friction are critical to the dynamics of electric power steering (EPS). On the one hand, friction contributes to the stability of the system and filters some of the disturbances (road vibration, etc.). On the other hand, it affects negativel ...
We consider the problem of dispatching WindFarm (WF) power demand to individual Wind Turbines (WT) with the goal of minimizing mechanical stresses. We assume wind is strong enough to let each WTs to produce the required power and propose different closed-l ...
In this paper, we propose a model order reduction framework for parametrized quadratic optimization problems constrained by nonlinear stationary PDEs. Once the solutions of the optimization problem are characterized as the solutions of the corresponding op ...
Soft constrained model predictive control (MPC) is frequently applied in practice in order to ensure feasibility of the optimization during online operation. Standard techniques offer global feasibility by relaxing state or output constraints, but cannot e ...
Institute of Electrical and Electronics Engineers2014
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed technique include g ...
Human-robot collaboration seeks to have humans and robots closely interacting in everyday situations. For some tasks, physical contact between the user and the robot may occur, originating significant challenges at safety, cognition, perception and control ...
This paper presents a method to solve the constrained infinite-time linear quadratic regulator (LQR) problem. We use an operator splitting technique, namely the alternating minimization algorithm (AMA), to split the problem into an unconstrained LQR proble ...
We consider the problem of dispatching WindFarm (WF) power demand to individual Wind Turbines (WTs) with the goal of minimizing mechanical stresses. We assume wind is strong enough to let each WT produce the required power and propose different closed-loop ...
This paper presents a method to solve the constrained infinite-time linear quadratic regulator (LQR) problem. We use an operator splitting technique, namely the alternating minimization algorithm (AMA), to split the problem into an unconstrained LQR proble ...
We present a design of a predictive control scheme for longitudinal beam dynamics in heavy ion synchrotrons. Specifically, we consider a linear-quadratic model predictive control (MPC) approach, whereby the quadratic program is solved via a fast gradient m ...
