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

Related publications (35)

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Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case

Dominique Bonvin, Philippe Müllhaupt

Feedback linearization requires a unique feedback law and a unique diffeomorphism to bring a system to Brunovsk´y normal form. Unfortunately, singularities might arise both in the feedback law and in the diffeomorphism. This paper demonstrates the ability ...

2012

Modeling, Control, and Experimental Characterization of Microbiorobots

Mahmut Selman Sakar

In this paper, we describe how motile microorganisms can be integrated with engineered microstructures to develop a micro-bio-robotic system. SU-8 microstructures blotted with swarmer cells of Serratia Marcescens in a monolayer are propelled by the bacteri ...

SAGE Publications2011

Optimal Design and Sensorless Position Control of a Piezoelectric Motor Integrated into a Mechatronic Cylinder Lock

Yves Perriard, Markus Flückiger

Electronic door lock cylinders need some sort of mechanical actuator to toggle the locking state between open and closed. The main requirements are high security standards, low power consumption, reasonable production costs, and facile integration of the a ...

2010

Robust Controller Design by Convex Optimization based on Finite Frequency Samples of Spectral Models

Alireza Karimi, Roland Longchamp, Gorka Galdos Sanz de Galdeano

Some frequency-domain controller design problems are solved using a finite number of frequency samples. Consequently, the performance and stability conditions are not guaranteed for the frequencies between the frequency samples. In this paper, all possible ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Sensorless Position Control of Piezoelectric Ultrasonic Motors

Markus Flückiger

This dissertation considers mechatronic systems driven by piezoelectric ultrasonic motors (PUM). The focus is set on optimal system design and sensorless position control. Mechatronic industry faces the challenge to deliver ever more efficient and reliable ...

EPFL2010

A Perching Mechanism for Micro Aerial Vehicles

Dario Floreano, Roland Siegwart, Mirko Kovac, Jürg Markus Germann

Micro Aerial Vehicles (MAVs) with perching capabilities can be used to efficiently place sensors in aloft locations. A major challenge for perching is to build a lightweight mechanism that can be easily mounted on a MAV, allowing it to perch (attach and de ...

2010

Biosensing and actuation for microbiorobots

Mahmut Selman Sakar

In this paper, we describe how signaling networks and actuation in bacterial cells and biomolecular networks of bacteria can be used to develop an integrated micro-bio-robotic system. SU8 microstructures blotted with swarmer cells of Serratia Marcescens in ...

IEEE2010

Dedicated controller design for a dual-stage opto-mechatronic system

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

To improve the resolution of the Very Large Telescope Interferometer (VLTI) a two-stage mechanical system, a so called Differential Delay Line (DDL), is developed jointly by the EPFL and the Observatory of Geneva. The system is designed to reach nanometer ...

IEEE2008

In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach emphasizes motor control as a process of self-organization betwe ...

2007

Initially, linear motors have been particularly dedicated to transportation systems. Nowadays, linear motors are meant to replace a system using a rotating motor and a transmission to realize a linear movement. With linear motors the performances increase ...

EPFL2006