Publications associées à Système invariant

Frequency domain data-driven robust and optimal control

The goal of this thesis is to propose pragmatic solutions to real challenges faced in the industry. The scope of this thesis encompasses two subjects: frequency-based structured controller synthesis for linear time-invariant (LTI) systems on one side, and ...

EPFL2024

Data-driven IQC-Based Robust Control Design for Hybrid Micro-disturbance Isolation Platform

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

A novel approach for robust controller synthesis, which models uncertainty as an elliptical set, is proposed in the paper. Given a set of frequency response functions of linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems, the approac ...

IEEE2023

Achieving Optimal Performance With Data-Driven Frequency-Based Control Synthesis Methods

Alireza Karimi, Philippe Louis Schuchert

Frequency Response Function (FRF)-based control synthesis methods for Linear Time-Invariant (LTI) systems have been widely used in control theory and industry. Recently, there has been renewed interest in these methods, employing numerical optimization too ...

Ieee-Inst Electrical Electronics Engineers Inc2023

Fast ion generation with ICRF waves and beams in the Wendelstein 7-X stellarator

Mike Machielsen

The largest operating stellarator, Wendelstein 7-X, is of the quasi-isodynamic type. For this design to scale up to a fusion reactor, several criteria must be met, one of them being good fast ion confinement. The latter still has to be tested experimentall ...

EPFL2023

The Sparsity of Cycle Spinning for Wavelet-Based Solutions of Linear Inverse Problems

Michaël Unser, Rahul Parhi

The usual explanation of the efficacy of wavelet-based methods hinges on the sparsity of many real-world objects in the wavelet domain. Yet, standard wavelet-shrinkage techniques for sparse reconstruction are not competitive in practice, one reason being t ...

IEEE Institute of Electrical and Electronics Engineers2023

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Aude Billard, Michael Bosongo Bombile

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Giancarlo Ferrari Trecate, Luca Furieri, Clara Lucía Galimberti

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effe ...

IEEE2022

General invariance and equilibrium conditions for lattice dynamics in 1D, 2D, and 3D materials

Nicola Marzari, Changpeng Lin, Samuel Poncé

The long-wavelength behavior of vibrational modes plays a central role in carrier transport, phonon-assisted optical properties, superconductivity, and thermomechanical and thermoelectric properties of materials. Here, we present general invariance and equ ...

NATURE PORTFOLIO2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Temporal Representation Learning on Monocular Videos for 3D Human Pose Estimation

Pascal Fua, Mathieu Salzmann, Helge Jochen Rhodin, Victor Constantin, Sina Honari

In this paper we propose an unsupervised feature extraction method to capture temporal information on monocular videos, where we detect and encode subject of interest in each frame and leverage contrastive self-supervised (CSS) learning to extract rich lat ...

2022