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Today, automatic control is integrated into a wide spectrum of real-world systems such as electrical grids and transportation networks. Many of these systems comprise numerous interconnected agents, perform safety-critical operations, or generate large amo ...
In recent years, several industries have widely applied BLDC servomotors for various purposes that they almost need a control system to be accurate and robust. In this paper, we compare an adaptive fuzzy controller and PI controller for BLDC servomotor pos ...
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 ...
The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...
This thesis addresses theoretical and practical aspects of identification and subsequent control of self-exciting point processes. The main contributions correspond to four separate scientific papers.In the first paper, we address the challenge of robust i ...
Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...
Engineered grafts constitute an alternative to autologous transplant for repairing severe peripheral nerve injuries. However, current clinically available solutions have substantial limitations and are not suited for the repair of long nerve defects. A nov ...
This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...
We study the rapid stabilization of the heat equation on the 1-dimensional torus using the backstepping method with a Fredholm transformation. This classical framework allows us to present the backstepping method with Fredholm transformations for the Lapla ...
This paper proposes a Control by Interconnection design, for a class of constrained Port-Hamiltonian systems, which is based on an associated Model Predictive Control optimization problem. This associated optimization problem allows to consider both state ...
