Publications related to Robust Controller Design For Linear Systems With Nonlinear Distortions. A Data-Driven Approach

Certification of fixed computation time first-order optimization-based controllers for a class of nonlinear dynamical systems

This paper proposes a stability verification method for systems controlled by an early terminated first-order method (e.g., an MPC problem approximately solved by a fixed number of iterations of the fast gradient method). The method is based on the observa ...

Ieee2014

Open-loop control of a separated boundary layer

François Gallaire, Edouard Boujo

Linear optimal gains

G_{opt}(\omega)

are computed for the separated boundary-layer flow past a two-dimensional bump in the subcritical regime. Very large values are found, making it possible for small-amplitude noise to be strongly amplified and to desta ...

Elsevier France-Editions Scientifiques Medicales Elsevier2014

Convex computation of the maximum controlled invariant set for polynomial control systems

Colin Neil Jones, Milan Korda

We characterize the maximum controlled invariant (MCI) set for discrete- as well as continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional linear programming problem. For systems with polynomial dynamics and compact semialge ...

Society for Industrial and Applied Mathematics2014

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

On real-time robust model predictive control

Colin Neil Jones, Melanie Nicole Zeilinger

High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibilit ...

Elsevier2014

Perimeter flow control in bi-modal urban road networks: A robust feedback control approach

Nikolaos Geroliminis, Nan Zheng, Konstantinos Ampountolas

n this paper, we integrate a three-dimensional Macroscopic Fundamental Diagram (3D-MFD) modelling for mixed bi-modal urban traffic in a control framework for congested urban regions. The 3D-MFD relates the accumulation of cars and buses and the outflow (or ...

IEEE2014

A real-time comparison between direct control, sequential pattern recognition control and simultaneous pattern recognition control using a Fitts' law style assessment procedure

Sophie Marie Marthe Wurth

Background: Pattern recognition (PR) based strategies for the control of myoelectric upper limb prostheses are generally evaluated through offline classification accuracy, which is an admittedly useful metric, but insufficient to discuss functional perform ...

Biomed Central Ltd2014

Finite Dimensional Methods for Differential Flatness

Basile Graf

In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...

EPFL2013

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous time systems where an extra performance index, which is not a measure of the distance to the set point, is introduced to influence the transient behavior of the controlled ...

2013

Robust Distributed Model Predictive Control of Linear Systems

Colin Neil Jones, Melanie Nicole Zeilinger

In this work, synthesis and closed-loop operation of robust distributed model predictive control (MPC) for linear systems using distributed optimization is discussed. Previous work has shown that a nominal MPC controller for this setup can be synthesized a ...

2013

Robust Controller Design For Linear Systems With Nonlinear Distortions. A Data-Driven Approach

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Certification of fixed computation time first-order optimization-based controllers for a class of nonlinear dynamical systems

Open-loop control of a separated boundary layer

Convex computation of the maximum controlled invariant set for polynomial control systems

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

On real-time robust model predictive control

Perimeter flow control in bi-modal urban road networks: A robust feedback control approach

A real-time comparison between direct control, sequential pattern recognition control and simultaneous pattern recognition control using a Fitts' law style assessment procedure

Finite Dimensional Methods for Differential Flatness

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Robust Distributed Model Predictive Control of Linear Systems

Open-loop control of a separated boundary layer

Perimeter flow control in bi-modal urban road networks: A robust feedback control approach

Finite Dimensional Methods for Differential Flatness

A real-time comparison between direct control, sequential pattern recognition control and simultaneous pattern recognition control using a Fitts' law style assessment procedure

Certification of fixed computation time first-order optimization-based controllers for a class of nonlinear dynamical systems

Convex computation of the maximum controlled invariant set for polynomial control systems

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Robust Distributed Model Predictive Control of Linear Systems

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

On real-time robust model predictive control