Publications by Vaibhav Gupta | EPFL Graph Search

Data-driven fixed-structure frequency-based H2 and H∞ controller design

Alireza Karimi, Philippe Louis Schuchert, Vaibhav Gupta

The frequency response data of a generalized system is used to design fixed-structure controllers for the H2 and H∞ synthesis problem. The minimization of the two and infinity norm of the transfer function between the exogenous inputs and performance outpu ...

Elsevier BV2024

Upgrading SPHERE with the second stage AO system SAXO+: frequency-based data-driven controller for adaptive optics

Alireza Karimi, Vaibhav Gupta

This study introduces a novel frequency-based data-driven controller for adaptive optics, using power spectral density for optimization while ensuring stability criteria. It addresses disturbance rejection, command amplitude constraints and system transfer ...

SPIE2024

Achieving robustness against uncertain time delays using non-parametric IQCs

Alireza Karimi, Vaibhav Gupta

With increasing control applications in large-scale distributed and networked systems, the impact of uncertain time delay is ever-increasing. This paper proposes the use of a novel non-parametric Integral Quadratic Constraint (IQC) to achieve robustness ag ...

Institute of Electrical and Electronics Engineers Inc.2024

Data-driven IQC-Based Robust Control Design for Hybrid Micro-disturbance Isolation Platform

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

A novel approach for robust controller synthesis, which models uncertainty as an elliptical set, is proposed in the paper. Given a set of frequency response functions of linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems, the approac ...

IEEE2023

Direct Data-Driven Vibration Control for Adaptive Optics

Alireza Karimi, Vaibhav Gupta

Adaptive optics (AO) systems are used in ground- based telescopes to improve image resolutions, especially for long-exposure photography, by compensating for the effects of atmospheric turbulence and internal vibrations. Most current AO systems are based o ...

2023

Data-driven IQC-Based Uncertainty Modelling for Robust Control Design

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

A new approach is presented in the paper for modelling uncertainty as an elliptical set for robust controller synthesis. The method involves finding the best linear nominal model and the corresponding elliptical uncertainty set that is consistent with a se ...

2023

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022