Publications related to Closed-loop controller

Controller design and region of attraction estimation for nonlinear dynamical systems

This work presents a method to obtain inner and outer approximations of the region of attraction of a given target set as well as an admissible controller generating the inner approximation. The method is applicable to constrained polynomial dynamical syst ...

2014

Corticospinal neuroprostheses to restore locomotion after spinal cord injury

José del Rocio Millán Ruiz, Silvestro Micera, Stéphanie Lacour, Grégoire Courtine, Eduardo Martin Moraud, Pavel Musienko, Ivan Rusev Minev, Nikolaus Wenger, Marco Bonizzato, Janine Beauparlant, David Allenson Borton

In this conceptual review, we highlight our strategy for, and progress in the development of corticospinal neuroprostheses for restoring locomotor functions and promoting neural repair after thoracic spinal cord injury in experimental animal models. We spe ...

Elsevier2014

Automated Real-Time Control of Fluidic Self-Assembly of Microparticles

Jürgen Brugger, Alcherio Martinoli, Massimo Mastrangeli, Felix Stephan Schill, Helmut Knapp

Self-assembly is a key coordination mechanism for large multi-unit systems and a powerful bottom-up technology for micro/nanofabrication. Controlled self-assembly and dynamic reconfiguration of large ensembles of microscopic particles can effectively bridg ...

2014

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

Open-loop control of a separated boundary layer

François Gallaire, Edouard Boujo

Linear optimal gains

G_{opt}(\omega)

are computed for the separated boundary-layer flow past a two-dimensional bump in the subcritical regime. Very large values are found, making it possible for small-amplitude noise to be strongly amplified and to desta ...

Elsevier France-Editions Scientifiques Medicales Elsevier2014

A linearized approach for the control of aerodynamic forces in flow past a square cylinder

François Gallaire, Edouard Boujo, Philippe Meliga

The analysis of Strykowski & Sreenivasan (JFM, 1990) provides experimental evidence that a small control cylinder suitably positioned in the wake of a main cylinder can alter vortex shedding close to the instability threshold. This problem was addressed fr ...

2014

Traffic modeling, estimation and control for large-scale congested urban networks

Mohsen Ramezani Ghalenoei

Part I of the thesis investigates novel urban traffic state estimation methods utilizing probe vehicle data. Chapter 2 proposes a method to integrate the collective effect of dispersed probe data with traffic kinematic wave theory and data mining technique ...

EPFL2014

Soft Constrained Model Predictive Control With Robust Stability Guarantees

Colin Neil Jones, Melanie Nicole Zeilinger

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

Improved methodology and set-point design for diagnosis of model-plant mismatch in control loops using plant-model ratio

Alireza Karimi

Performance of any model-based control scheme depends on the quality of model. When these schemes deliver poor loop performance due to model-plant mismatch (MPM), a detection of the same needs to be in place. A recently introduced plant model ratio (PMR) n ...

Elsevier2014

An Economic Model Predictive Control scheme with terminal penalty for continuous-time systems

Colin Neil Jones, Andrea Alessandretti

In this paper, convergence and performance properties of a sample-data continuous time model predictive control (MPC) scheme with economic performance index are developed. In particular, we provide sufficient conditions for convergence of the close loop st ...

2014

Closed-loop controller

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Controller design and region of attraction estimation for nonlinear dynamical systems

Corticospinal neuroprostheses to restore locomotion after spinal cord injury

Automated Real-Time Control of Fluidic Self-Assembly of Microparticles

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Open-loop control of a separated boundary layer

A linearized approach for the control of aerodynamic forces in flow past a square cylinder

Traffic modeling, estimation and control for large-scale congested urban networks

Soft Constrained Model Predictive Control With Robust Stability Guarantees

Improved methodology and set-point design for diagnosis of model-plant mismatch in control loops using plant-model ratio

An Economic Model Predictive Control scheme with terminal penalty for continuous-time systems

Open-loop control of a separated boundary layer

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Traffic modeling, estimation and control for large-scale congested urban networks

Soft Constrained Model Predictive Control With Robust Stability Guarantees

Improved methodology and set-point design for diagnosis of model-plant mismatch in control loops using plant-model ratio

Controller design and region of attraction estimation for nonlinear dynamical systems

Corticospinal neuroprostheses to restore locomotion after spinal cord injury

Automated Real-Time Control of Fluidic Self-Assembly of Microparticles

A linearized approach for the control of aerodynamic forces in flow past a square cylinder

An Economic Model Predictive Control scheme with terminal penalty for continuous-time systems