Publications associées à Commande prédictive

Perimeter Control and Route Guidance of Multi-Region MFD Systems With Boundary Queues Using Colored Petri Nets

Nikolaos Geroliminis, Anastasios Kouvelas, Hui Fu

Perimeter control based on Macroscopic Fundamental Diagram (MFD) aims to meter the number of transferring vehicles at the periphery of the protected urban region in order to obtain the desired number of vehicles in that region. The advantage of perimeter c ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Giancarlo Ferrari Trecate, Luca Furieri, Baiwei Guo, Andrea Martin

How can we synthesize a safe and near-optimal control policy for a partially-observed system, if all we are given is one historical input/output trajectory that has been corrupted by noise? To address this challenge, we suggest a novel data-driven controll ...

2021

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

Maryam Kamgarpour, Luca Furieri, Na Li

This paper studies a class of partially observed Linear Quadratic Gaussian (LQG) problems with unknown dynamics. We establish an end-to-end sample complexity bound on learning a robust LQG controller for open-loop stable plants. This is achieved using a ro ...

PMLR2021

Stochastic Optimal Control for Autonomous Driving Applications via Polynomial Chaos Expansions

Colin Neil Jones, Petr Listov, Johannes Christian Schwarz

Model-based methods in autonomous driving and advanced driving assistance gain importance in research and development due to their potential to contribute to higher road safety. Parameters of vehicle models, however, are hard to identify precisely or they ...

2021

Learning dynamical systems with bifurcations

Aude Billard, Farshad Khadivar, Ilaria Lauzana

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

2021

On the Equivalence of Youla, System-Level, and Input-Output Parameterizations

Maryam Kamgarpour, Luca Furieri, Yu Zheng

A convex parameterization of internally stabilizing controllers is fundamental for many controller synthesis procedures. The celebrated Youla parameterization relies on a doubly coprime factorization of the system, while the recent system-level and input-o ...

2021

Whole Body Model Predictive Control with a Memory of Motion:Experiments on a Torque-Controlled Talos

Sylvain Calinon, Teguh Santoso Lembono, Rohan Budhiraja

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

Analytical Computation of Power Grids’ Sensitivity Coefficients with Voltage-Dependent Injections

Mario Paolone, Sherif Alaa Salaheldin Fahmy

With the increasing need of real-time regulation in power systems, grid-aware-control-frameworks are relying more often on sensitivity coefficients (SCs) to formulate and efficiently solve optimal control problems. As known, SCs are the derivatives of cont ...

IEEE2021

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Commande prédictive

Perimeter Control and Route Guidance of Multi-Region MFD Systems With Boundary Queues Using Colored Petri Nets

Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

Stochastic Optimal Control for Autonomous Driving Applications via Polynomial Chaos Expansions

Learning dynamical systems with bifurcations

On the Equivalence of Youla, System-Level, and Input-Output Parameterizations

Whole Body Model Predictive Control with a Memory of Motion:Experiments on a Torque-Controlled Talos

Analytical Computation of Power Grids’ Sensitivity Coefficients with Voltage-Dependent Injections

Reference tracking stochastic model predictive control over unreliable channels and bounded control actions

Evaluation of advanced control strategies of electric thermal storage systems in residential building stock

Graph Chatbot

Chattez avec Graph Search

Whole Body Model Predictive Control with a Memory of Motion:Experiments on a Torque-Controlled Talos

Perimeter Control and Route Guidance of Multi-Region MFD Systems With Boundary Queues Using Colored Petri Nets

On the Equivalence of Youla, System-Level, and Input-Output Parameterizations

Reference tracking stochastic model predictive control over unreliable channels and bounded control actions

Stochastic Optimal Control for Autonomous Driving Applications via Polynomial Chaos Expansions

Learning dynamical systems with bifurcations

Analytical Computation of Power Grids’ Sensitivity Coefficients with Voltage-Dependent Injections

Evaluation of advanced control strategies of electric thermal storage systems in residential building stock

Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems