An Efficient Method to Estimate the Suboptimality of Affine Controllers
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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 ...
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The frequency-domain data of a multivariable system in different operating points is used to design a robust controller with respect to the measurement noise and multimodel uncertainty. The controller is fully parametrized in terms of matrix polynomial fun ...
Despite recent advances in prostheses, intuitive and robust control of poly-articulated prosthetic hands remains an unsolved problem. The TACT-HAND project aims at providing hand amputees with improved dexterous capabilities by exploiting tactile sensing a ...
We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that satisfy ...
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We study finite horizon optimal control where the controller is subject to sensor-information constraints, that is, each input has access to a fixed subset of states at all times. In particular, we consider linear systems affected by exogenous disturbances ...
In recent years, Economic Model Predictive Control (EMPC) has received considerable attention of many research groups. The present tutorial survey summarizes state-of-the-art approaches in EMPC. In this context EMPC is to be understood as receding-horizon ...