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A logarithmic-time solution to the point location problem for parametric linear programming

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Robust Controller Design For Linear Systems With Nonlinear Distortions. A Data-Driven Approach

Alireza Karimi, Achille Nicoletti

The extensive use of frequency-domain tools for analyzing and controlling linear systems have become indispensable for the control systems engineer. However, due to the increased performance demands on today's industrial systems, the effects of certain non ...

2018

Onboard State Dependent LQR for Agile Quadrotors

Davide Scaramuzza

State-of-the-art approaches in quadrotor control split the problem into multiple cascaded subproblems, exploiting the different time scales of the rotational and translational dynamics. They calculate a desired acceleration as input for a cascaded attitude ...

2018

3LP: a linear 3D-walking model including torso and swing dynamics

Auke Ijspeert, Salman Faraji

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...

Sage Publications Ltd2017

Robust optimal control with adjustable uncertainty sets

Maryam Kamgarpour, John Lygeros, Xiaojing Zhang

In this paper, we develop a unified framework for studying constrained robust optimal control problems with adjustable uncertainty sets. In contrast to standard constrained robust optimal control problems with known uncertainty sets, we treat the uncertain ...

2017

Nonlinear Model Predictive Control for Constrained Output Path Following

Timm Faulwasser

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following problems. Specif ...

Institute of Electrical and Electronics Engineers2016

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

On real-time robust model predictive control

Colin Neil Jones, Melanie Nicole Zeilinger

High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibilit ...

Elsevier2014

Predictive Control for Longitudinal Beam Dynamics in Heavy Ion Synchrotrons

Timm Faulwasser

We present a design of a predictive control scheme for longitudinal beam dynamics in heavy ion synchrotrons. Specifically, we consider a linear-quadratic model predictive control (MPC) approach, whereby the quadratic program is solved via a fast gradient m ...

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

Robust Distributed Model Predictive Control of Linear Systems

Colin Neil Jones, Melanie Nicole Zeilinger

In this work, synthesis and closed-loop operation of robust distributed model predictive control (MPC) for linear systems using distributed optimization is discussed. Previous work has shown that a nominal MPC controller for this setup can be synthesized a ...

2013