Publications related to Methodologie d'Optimisation Dynamique et de Commande Optimale des Petites Stations d'Epuration a Boues Activees

Optimization based control for target estimation and tracking via highly observable trajectories

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper presents a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives a follower vehicle to a target vehicle using on-line estimation of the target position an ...

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

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

Dominique Bonvin, Colin Neil Jones, Timm Faulwasser, Milan Korda

We investigate the turnpike and dissipativity properties of continuous-time optimal control problems. These properties play a key role in the analysis and design of schemes for dynamic real-time optimization and economic model predictive control. We show i ...

2014

Multi-Parametric Toolbox 3.0

Colin Neil Jones

The Multi-Parametric Toolbox is a col- lection of algorithms for modeling, control, analysis, and deployment of constrained optimal controllers developed under Matlab. It features a powerful ge- ometric library that extends the application of the toolbox b ...

2013

Decoupled dq-Current Control of Grid-Tied Voltage Source Converters Using Nonparametric Models

Alfred Rufer, Alireza Karimi, Behrooz Bahrani

This paper presents a vector control strategy for regulating the current of grid-tied voltage source converters (VSCs) in a rotating reference frame. The proposed approach is based on shaping the open-loop and closed-loop transfer matrices of the system. S ...

Institute of Electrical and Electronics Engineers2013

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 destabi ...

Cépaduès Editions2013

Forced reattachment in separated flows: a variational approach to recirculation length reduction

François Gallaire, Edouard Boujo

Sensitivity analysis is used to design an open-loop control for separated flows. The length of the recirculation region

l_c

is expressed as a cost functional, and its sensitivity to actuation is derived analytically. This analysis allows to identify regi ...

2013

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous time systems where an extra performance index, which is not a measure of the distance to the set point, is introduced to influence the transient behavior of the controlled ...

2013

Optimization-based solutions to constrained trajectory-tracking and path-following problems

Timm Faulwasser

The prototypical problem in control theory is the stabilization of a set point. When, instead of a set point, a time-varying reference needs to be stabilized, then the problem is called trajectory tracking. Typical examples of trajectory-tracking problems ...

Shaker Verlag2013

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Auke Ijspeert, Yannick Morel

Motion control of bio-inspired mobile robotic platforms can prove a challenging problem. In particular, models for the considered type of systems may prove nonlinear, uncertain, and fairly complicated. To address these issues, use of an output predictor-ba ...

Amer Soc Mechanical Engineers2013

Methodologie d'Optimisation Dynamique et de Commande Optimale des Petites Stations d'Epuration a Boues Activees

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Optimization based control for target estimation and tracking via highly observable trajectories

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

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

Multi-Parametric Toolbox 3.0

Decoupled dq-Current Control of Grid-Tied Voltage Source Converters Using Nonparametric Models

Open-loop control of a separated boundary layer

Forced reattachment in separated flows: a variational approach to recirculation length reduction

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Optimization-based solutions to constrained trajectory-tracking and path-following problems

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

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

Decoupled dq-Current Control of Grid-Tied Voltage Source Converters Using Nonparametric Models

Optimization-based solutions to constrained trajectory-tracking and path-following problems

Optimization based control for target estimation and tracking via highly observable trajectories

Multi-Parametric Toolbox 3.0

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

Open-loop control of a separated boundary layer

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Forced reattachment in separated flows: a variational approach to recirculation length reduction

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior