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In Model Predictive Control, the enforcement of hard state constraints can be overly conservative or even infeasible, especially in the presence of disturbances. This work presents a soft constrained MPC approach that provides closed- loop stability even f ...
In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets ...
The objective of this study is to verify if only the use of robotic force feedback enables indirect and dynamic manipulations which are difficult for human beings to perform. Human beings usually control the trajectory of an object using visual feedback; f ...
We study a collection of limit cycle oscillators with different frequencies interacting via networks. With static networks, our specific class of models produces a frequency learning mechanism leading the collection of oscillators to ultimately adopt a sin ...
Rhythmically bouncing a ball with a racket is a seemingly simple task, but it poses all the challenges critical for coordinative behavior: perceiving the ball’s trajectory to adapt position and velocity of the racket for the next ball contact. To gain insi ...
Nanoparticle arrays created by nanosphere lithography are widely used in sensing applications since their localized surface plasmon resonances are extremely sensitive to changes in the local dielectric environment. A major drawback for any biologically ori ...
The Spanning Tree Protocol routes traffic on shortest path trees. If some edges fail, the traffic has to be rerouted consequently, setting up alternative trees. In this paper we design efficient algorithms to compute polynomial-size integer weights so as t ...
Stabilized or Chebyshev explicit methods have been widely used in the past to solve stiff ordinary differential equations. Making use of special properties of Chebyshev-like polynomials, these methods have favorable stability properties compared to standar ...
The design of direct driven turbomachinery is an interdisciplinary task. Standard design procedures propose to split such systems into subcomponents and to design each one individually. This common procedure, however, tends to neglect the interactions betw ...
The stability properties of Alfvén Eigenmodes (AEs) are investigated directly using external antenna excitation and detection of stable modes in a variety of plasma configurations in different devices. Dedicated methods to measure the AE damping rate separ ...
