A Parametric Nonconvex Decomposition Algorithm for Real-Time and Distributed NMPC
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In the frame of this work, the problem of following parametrized refer- ence paths via nonlinear model predictive control is considered. It is shown how the use of parametrized paths introduces new degrees of freedom into the con- troller design. Sufficien ...
To improve the resolution of the Very Large Telescope Interferometer (VLTI) a two-stage mechanical system, a so called Differential Delay Line (DDL), is developed jointly by the EPFL and the Observatory of Geneva. The system is designed to reach nanometer ...
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We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial ...
In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets ...
A new crane design, labeled "SpiderCrane", is proposed to handle fast load displacements. Its main particularity is the absence of heavy mobile components. The system beeing underactuated, its control is challenging. Hence, as a step towards easier and mor ...
Piezoelectric motors are resonant vibromotors. They represent a new actuator generation in the field of servo-drives. In particular, the travelling wave ultrasonic motor presents a high torque at low speed, a zero speed torque without feeding, low sensitiv ...
Polyhedral operations play a central role in constrained control. One of the most fundamental operations is that of projection, required both by addition and multiplication. This thesis investigates projection and its relation to multi-parametric linear op ...
Sensorless control of PMSM's (Permanent Magnet Synchronous Motors) has occupied scientists for a long time. The result of this research is becoming widely accepted by the industry due to its low cost and reliability. However, the majority of today's motor ...