Publication

A parametric multi-convex splitting technique with application to real-time NMPC

Related publications (41)

A Proximal-Point Lagrangian-Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control

Colin Neil Jones, Yuning Jiang, Yingzhao Lian

Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Data-driven Methods for Control: from Linear to Lifting

Yingzhao Lian

The progress towards intelligent systems and digitalization relies heavily on the use of automation technology. However, the growing diversity of control objects presents significant challenges for traditional control approaches, as they are highly depende ...
EPFL2023

A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

Jamie Paik, Andres San Millan Rodriguez

We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show th ...
2020

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

Silvestro Micera, Michele Xiloyannis

The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of ...
FRONTIERS MEDIA SA2019

Geometry-aware Deep Network for Single-Image Novel View Synthesis

Mathieu Salzmann

This paper tackles the problem of novel view synthesis from a single image. In particular, we target real-world scenes with rich geometric structure, a challenging task due to the large appearance variations of such scenes and the lack of simple 3D models ...
IEEE2018

Y Stability and performance verification of optimization-based controllers

Colin Neil Jones, Milan Korda

This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed technique include g ...
Pergamon-Elsevier Science Ltd2017

A semi-algebraic version of Zarankiewicz's problem

János Pach

A bipartite graph G is semi-algebraic in R-d if its vertices are represented by point sets P,Q subset of R-d and its edges are defined as pairs of points (p,q) epsilon P x Q that satisfy a Boolean combination of a fixed number of polynomial equations and i ...
European Mathematical Soc2017

Development of the Geographical Proportional-to-size Street-Intercept Sampling (GPSIS) method for recruiting urban nightlife-goers in an entire city

Daniel Gatica-Perez, Darshan Santani

We developed the Geographical Proportional-to-size Street-Intercept Sampling (GPSIS) method in order to obtain a sample of nightlife-goers which accounted for the diversity of spaces, patrons and locations within two Swiss cities. Popular nightlife zones w ...
2017

A Parametric Nonconvex Decomposition Algorithm for Real-Time and Distributed NMPC

Colin Neil Jones, Jean-Hubert Hours

A novel decomposition scheme to solve parametric nonconvex programs as they arise in Nonlinear Model Predictive Control (NMPC) is presented. It consists of a fixed number of alternating proximal gradient steps and a dual update per time step. Hence, the pr ...
2016

Potential of Flex-PCB Winding in Coreless Tubular Permanent Magnet Synchronous Machines

Yves Perriard, Bruno Dehez, François Baudart

Many applications are limited by the performance of the motors that power them. In the small power range, slotless BLDC motors are commonly used due to their intrinsic high power density and smooth torque characteristic. However, recent work has shown that ...
2016

Graph Chatbot

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.