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Probabilistic Adaptive Control for Robust Behavior Imitation

Sylvain Calinon, Julius Maximilian Jankowski, Hakan Girgin

In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...

IEEE2021

Development of free-boundary equilibrium and transport solvers for simulation and real-time interpretation of tokamak experiments

Francesco Carpanese

To exploit fusion as a source of energy, a hot and dense confined plasma is needed. This is achieved in tokamaks by actively controlling the plasma state meaning shape, position and internal kinetic profiles. This thesis addresses two topics: the developme ...

EPFL2021

Data-Driven LPV Controller Design for Islanded Microgrids

Alireza Karimi, Seyed Sohail Madani

This paper presents a data-driven multivariable Linear Parameter Varying (LPV) controller design method. The synthesis process is based on frequency-domain data corresponding to different operating points of the plant. The performance and also stability co ...

ELSEVIER2021

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

EPFL2020

Data-Driven Passivity-Based Current Controller Design for Power-Electronic Converters of Traction Systems

Alireza Karimi, Seyed Sohail Madani

In this paper, a data-driven method for controller design with constraints on the positive-realness of closed-loop transfer functions over an arbitrary set of frequencies is proposed. The positive-realness of a closed-loop transfer function is represented ...

IEEE2020

PolyMPC: An efficient and extensible tool for real‐time nonlinear model predictive tracking and path following for fast mechatronic systems

Colin Neil Jones, Petr Listov

This paper presents PolyMPC, an open‐source C++ library for pseudospectral‐based real‐time predictive control of nonlinear systems. It provides a necessary background on the computational aspects of the pseudospectral approximation of optimal control probl ...

2020

Data-Driven Distributed Combined Primary and Secondary Control in Microgrids

Alireza Karimi, Christoph Manuel Kammer, Seyed Sohail Madani

This paper presents a comprehensive data-driven distributed combined primary/secondary controller design method for microgrids. This method provides transient and steady-state performance including power-sharing and voltage and frequency restoration while ...

2021

Scalable Marine Bus-Tie Switch for Switchboard Interconnections

Drazen Dujic, Gabriele Ulissi

DC power distribution systems in marine applications are in the process of being established as the preferred solution for shipboard power distribution systems. This paper presents a bus-tie switch topology for the protection of such systems. The device is ...

2020

Data driven model free adaptive iterative learning perimeter control for large-scale urban road networks

Nikolaos Geroliminis, Isik Ilber Sirmatel, Ye Ren

Most perimeter control methods in literature are the model-based schemes designing the controller based on the available accurate macroscopic fundamental diagram (MFD) function with well known techniques of modern control methods. However, accurate modelin ...

2020

On Gaussian Process Based Koopman Operators

Colin Neil Jones

Enabling analysis of non-linear systems in linear form, the Koopman operator has been shown to be a powerful tool for system identification and controller design. However, current data-driven methods cannot provide quantification of model uncertainty given ...

ELSEVIER2020

Page 2 of 3

PolyMPC: An efficient and extensible tool for real‐time nonlinear model predictive tracking and path following for fast mechatronic systems

Colin Neil Jones, Petr Listov

2020

Development of free-boundary equilibrium and transport solvers for simulation and real-time interpretation of tokamak experiments

Francesco Carpanese

EPFL2021

Data-Driven Distributed Combined Primary and Secondary Control in Microgrids

Alireza Karimi, Christoph Manuel Kammer, Seyed Sohail Madani

2021