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A Proximal-Point Lagrangian-Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control

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Large horsepower induction motors play a critical role in the operation of industrial facilities. In this respect, the distribution network operators dedicate a high priority to the operational safety of these motor loads. In this paper, the induction moto ...

ELSEVIER SCIENCE SA2020

Small scale very high speed slotless permanent magnet motors

Guillaume Paul-André Burnand

This research work has been triggered by an industrial project aimed at modelling and manufacturing a small-scale very high speed motor. Very high speed electrical motors offer the main advantage of reducing the size of a system. Indeed, at constant output ...

EPFL2020

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

Silvestro Micera, Michele Xiloyannis

The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of ...

FRONTIERS MEDIA SA2019

Technical Report: Control of Nonlinear Systems with Explicit-MPC-like Controllers

Colin Neil Jones, Milan Korda, Ivan Pejcic

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 ...

2017

A novel decomposition scheme to solve parametric nonconvex programs as they arise in Nonlinear Model Predictive Control (NMPC) is presented. It consists of a fixed number of alternating proximal gradient steps and a dual update per time step. Hence, the pr ...

2016

A Parametric Non-Convex Decomposition Algorithm for Real-Time and Distributed NMPC

Colin Neil Jones, Jean-Hubert Hours

A novel decomposition scheme to solve parametric non-convex programs as they arise in Nonlinear Model Predictive Control (NMPC) is presented. It consists of a fixed number of alternating proximal gradient steps and a dual update per time step. Hence, the p ...

2014

A novel splitting scheme to solve parametric multi-convex programs is presented. It consists of a fixed number of proximal alternating minimisations and a dual update per time step, which makes it attractive in a real-time Nonlinear Model Predictive Contro ...

2014

Driver electronics for efficient low noise stepper motor operation

Stepper motors are a very convenient and economical solution for accurate positioning applications where long lifetime and low wear are required. Their particularly simple open-loop operation reduces the number of control components to a minimum. However, ...

2014

Flux Observer-Based vector control for Induction Motor

Sébastien Allemand

The induction motor offers the best value for money and is therefore used in many different application fields where power requirements are higher than a few kilowatts. ln order to be able to reduce the priee and the motor's size, a control algorithm based ...

2013

Quotient-method Algorithms for Input-affine Single-input Nonlinear Systems

Willson Sudarsandhari Shibani

Many real-world systems are intrinsically nonlinear. This thesis proposes various algorithms for designing control laws for input-affine single-input nonlinear systems. These algorithms, which are based on the concept of quotients used in nonlinear control ...

EPFL2012