Publications related to Fixed-order Linear Parameter Varying Controller Design for a 2DOF Gyroscope

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Augmented Lagrangian Methods for Provable and Scalable Machine Learning

Mehmet Fatih Sahin

Non-convex constrained optimization problems have become a powerful framework for modeling a wide range of machine learning problems, with applications in k-means clustering, large- scale semidefinite programs (SDPs), and various other tasks. As the perfor ...

EPFL2023

A convex set of robust D—stabilizing controllers using Cauchy's argument principle

Alireza Karimi, Philippe Louis Schuchert

A new approach is presented to obtain a convex set of robust D—stabilizing fixed structure controllers, relying on Cauchy's argument principle. A convex set of D—stabilizing controllers around an initial D—stabilizing controller for a multi-model set is re ...

Elsevier2022

On The Convergence Of Stochastic Primal-Dual Hybrid Gradient

Volkan Cevher, Ahmet Alacaoglu

In this paper, we analyze the recently proposed stochastic primal-dual hybrid gradient (SPDHG) algorithm and provide new theoretical results. In particular, we prove almost sure convergence of the iterates to a solution with convexity and linear convergenc ...

SIAM PUBLICATIONS2022

Frequency-domain data-driven position-dependent controller synthesis for Cartesian Robots

Alireza Karimi, Philippe Louis Schuchert

Cartesian robots have position-dependent dynamics that should be accounted for in high performance applications. Traditional methods design Linear Time Invariant (LTI) controllers which are robustly stable with respect to position variations, but require a ...

2022

A first-order primal-dual method with adaptivity to local smoothness

Volkan Cevher, Maria-Luiza Vladarean

We consider the problem of finding a saddle point for the convex-concave objective

\min_x \max_y f(x) + \langle Ax, y\rangle - g^*(y)

, where

f

is a convex function with locally Lipschitz gradient and

g

is convex and possibly non-smooth. We propose an ...

2021

Fast Projection Onto Convex Smooth Constraints

Maryam Kamgarpour, Andreas Krause, Ilnura Usmanova

The Euclidean projection onto a convex set is an important problem that arises in numerous constrained optimization tasks. Unfortunately, in many cases, computing projections is computationally demanding. In this work, we focus on projection problems where ...

PMLR2021

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Mohamed Bouri, Jemina Fasola, Tristan Hubert Vouga, Romain Pierre François Baud

The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to pr ...

2021

A unifying framework for form-finding and topology-finding of tensegrity structures

Yafeng Wang

This paper presents a unifying framework for the form-finding and topology-finding of tensegrity structures. The novel computational framework is based on rank-constrained linear matrix inequalities. For form-finding, given the topology (i.e., member conne ...

PERGAMON-ELSEVIER SCIENCE LTD2021

Discrete-time regional pole-placement using convex approximations: Theory and application to a boost converter

Emilio Maddalena

The problem of allocating the closed-loop poles of linear systems in specific regions of the complex plane defined by discrete time-domain requirements is addressed. The resulting non-convex set is inner-approximated by a convex region described with linea ...

2019

Fixed-order Linear Parameter Varying Controller Design for a 2DOF Gyroscope

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Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Augmented Lagrangian Methods for Provable and Scalable Machine Learning

A convex set of robust D—stabilizing controllers using Cauchy's argument principle

On The Convergence Of Stochastic Primal-Dual Hybrid Gradient

Frequency-domain data-driven position-dependent controller synthesis for Cartesian Robots

A first-order primal-dual method with adaptivity to local smoothness

Fast Projection Onto Convex Smooth Constraints

Bio-inspired standing balance controller for a full-mobilization exoskeleton

A unifying framework for form-finding and topology-finding of tensegrity structures

Discrete-time regional pole-placement using convex approximations: Theory and application to a boost converter

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Augmented Lagrangian Methods for Provable and Scalable Machine Learning

A first-order primal-dual method with adaptivity to local smoothness

A convex set of robust D—stabilizing controllers using Cauchy's argument principle

On The Convergence Of Stochastic Primal-Dual Hybrid Gradient

Fast Projection Onto Convex Smooth Constraints

Bio-inspired standing balance controller for a full-mobilization exoskeleton

A unifying framework for form-finding and topology-finding of tensegrity structures

Discrete-time regional pole-placement using convex approximations: Theory and application to a boost converter

Frequency-domain data-driven position-dependent controller synthesis for Cartesian Robots