Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing
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This paper proposes a Control by Interconnection design, for a class of constrained Port-Hamiltonian systems, which is based on an associated Model Predictive Control optimization problem. This associated optimization problem allows to consider both state ...
A feedback control design is proposed for stochastic systems with finite second moment which aims at maximising the region of attraction of the equilibrium point. Polynomial Chaos (PC) expansions are employed to represent the stochastic closed loop system ...
In daily adaptive proton therapy (DAPT), the treatment plan is re-optimized on a daily basis. It is a straightforward idea to incorporate information from the previous deliveries during the optimization to refine this daily proton delivery. A feedback sign ...
A closed-loop servo control based on balancing the gain of two probing frequencies is proposed for real-time Brillouin optical time-domain analysis (BOTDA) without post-processing. With the most basic BOTDA hardware setup, the system can perform measuremen ...
In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...
This article proposes a new clock-dependent gain-scheduled dynamic output feedback controller for delayed linear parameter varying systems with piecewise constant parameters. The proposed controller guarantees Script capital L2-performance. By employing a ...
The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanic ...
Real-time plasma electron density profile estimation and control are essential in the operation of future tokamaks. In particular, the robustness against diagnostics failure and disturbances is important for long pulse operation. A model-based approach to ...
Optimization-based controllers are advanced control systems whose mechanism of determining control inputs requires the solution of a mathematical optimization problem. In this thesis, several contributions related to the computational effort required for o ...
This study investigates the effectiveness of a robot-mediated strategy aimed at promoting balance recovery after multidirectional slippages. Six older adults were asked to manage anteroposterior and mediolateral slippages while donning an active pelvis ort ...