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A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

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From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Aude Billard, Konstantinos Chatzilygeroudis, Nuno Ricardo Ferreira Duarte, José Santos-Victor

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

IEEE2020

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The output of physical systems, such as the scrambled pattern formed by shining the spot of a laser pointer through fog, is often easily accessible by direct measurements. However, selection of the input of such a system to obtain a desired output is diffi ...

SPRINGERNATURE2020

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

Alireza Karimi, Achille Nicoletti, Michele Martino

A new data-driven approach using the frequency response function (FRF) of a system is proposed for designing robust-fixed structure digital controllers for particle accelerators' power converters. This design method ensures that the dynamics of a system ar ...

2019

Robust control of systems with sector nonlinearities via convex optimization: A data-driven approach

Alireza Karimi, Achille Nicoletti

In this paper, a new data-driven method for designing robust controllers is proposed for systemswith sector-bounded nonlinearities and multimodel uncertainties. The results from the circle criterion are used to generate necessary and sufficient convex cons ...

WILEY2019

Convex Optimization-Based Control Design for Parallel Grid-Connected Inverters

Alireza Karimi, Christoph Manuel Kammer

This paper presents a novel frequency-domain approach toward the control design for parallel grid-connected voltage source inverters (VSIs) with LCL output filters. The proposed method allows the controllers of multiple VSIs to be designed in a single step ...

2019

Robust control for an electromagnetic actuator for a camless engine

Zlatina Kirilova Dimitrova

The increase of the effective efficiency of the internal combustion engines is important for the fuel consumption reduction and the CO2 emission reduction. The variable engine valve trains are important for the gas exchanges and influence directly the effe ...

PERGAMON-ELSEVIER SCIENCE LTD2019

Design and characterization of variable stiffness structural joints

Gennaro Senatore

This paper presents design and characterization of a new type of structural joint which can vary its stiffness through actuation. Stiffness variation is employed to control the dynamic response of frame structures equipped with such joints. The joint is ma ...

2019

In this brief, the nanosatellite rendezvous and docking problem is tackled. It was never attempted for small spacecraft, as critical technologies, such as six-degree-of-freedom (DoF) micropropulsion systems, have only recently become available due to advan ...

2019

A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

Alireza Karimi, Christoph Manuel Kammer

This paper presents the practical aspects and application of a novel data-driven, fixed-structure, robust control design method. Only the frequency response data of the system is needed for the design, and no parametric model is required. The method can be ...

2018

IEEE2018