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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 ...
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 ...
The predictive control of the self-sustained single spiral vortex breakdown mode is addressed in the three-dimensional flow geometry of Ruith et al. (2003) for a constant swirl number S = 1.095. Based on adjoint optimization algorithms, two different contr ...
This paper describes synthesis of controllers involving Quadratic Programming (QP) optimization problems for control of nonlinear systems. The QP structure allows an implementation of the controller as a piecewise affine function, pre-computed offline, whi ...
We present a new walking controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controlle ...
We consider control design for positive compartmental systems in which each compartment's outflow rate is described by a concave function of the amount of material in the compartment. We address the problem of determining the routing of material between co ...
This paper performs an extensive review on control schemes and architectures applied to dc microgrids (MGs). It covers multilayer hierarchical control schemes, coordinated control strategies, plug-and-play operations, stability and active damping aspects, ...
We answer several questions posed by Beck, Cox, Delgado, Gubeladze, Haase, Hibi, Higashitani, and Maclagan in [Cox et al. 14, Question 3.5 (1),(2), Question 3.6], [Beck et al. 15, Conjecture 3.5(a),(b)], and [Hasse et al. 07, Open question 3 (a),(b) p. 231 ...
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 ...
We study the mixing time of the Dikin walk in a polytope a random walk based on the log-barrier from the interior point method literature. This walk, and a close variant, were studied by Narayanan (2016) and Kannan-Narayanan (2012). Bounds on its mixing ti ...