Frequency-domain data-driven position-dependent controller synthesis for Cartesian Robots
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This thesis focuses on the development of some fixed-order controller design methods in the gain-scheduling/Linear Parameter Varying (LPV) framework. Gain-scheduled controllers designed using frequency-domain Single Input Single Output (SISO) models are co ...
A new method for robust fixed-order H∞ controller design for uncertain time-delayed MIMO systems is presented. It is shown that the H∞ robust performance condition can be represented by a set of convex constraints with respect to the parameters of a linear ...
FMRI time course processing is traditionally performed using linear regression followed by statistical hypothesis testing. While this analysis method is robust against noise, it relies strongly on the signal model. In this paper, we propose a non-parametri ...
Spie-Int Soc Optical Engineering, Po Box 10, Bellingham, Wa 98227-0010 Usa2007
In this thesis, a new framework to design controllers in the frequency domain is proposed. The method is based on the shaping of the open-loop transfer function in the Nyquist diagram. A line representing a lower approximation for the crossover frequency a ...
This work presents a method to obtain inner and outer approximations of the region of attraction of a given target set as well as an admissible controller generating the inner approximation. The method is applicable to constrained polynomial dynamical syst ...
The flexible transmission benchmark was proposed in the European Journal of Control to evaluate some robust digital control approaches in 1995. With progress in convex optimization algorithms new methods for robust controller design are developed. A recent ...
The present article looks at the problem of iterative controller tuning, where the parameters of a given controller are adapted in an iterative manner to bring the user-defined performance metric to a local minimum for some repetitive process. Specifically ...
This paper introduces the concept of hybrid operational space control, a method that unifies kinematic tracking of individual joints with an inverse dynamics task space controller for the remainder of the robot. The proposed control strategy allows for a h ...
Many maneuvers of Unmanned Aerial Vehicles (UAV) can be considered within a framework of trajectory following. Though this issue can differ from one application to another, they all share the same problem of finding an optimal path (or signal) to perform t ...
We propose an extension of the recently devised SURE-LET grayscale denoising approach for multichannel images. Assuming additive Gaussian white noise, the unknown linear parameters of a transform-domain pointwise multichannel thresholding are globally opti ...
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2008