Publications associées à Hinfini

A convex set of robust D—stabilizing controllers using Cauchy's argument principle

Alireza Karimi, Philippe Louis Schuchert

A new approach is presented to obtain a convex set of robust D—stabilizing fixed structure controllers, relying on Cauchy's argument principle. A convex set of D—stabilizing controllers around an initial D—stabilizing controller for a multi-model set is re ...

Elsevier2022

Implicit Distance Functions: Learning and Applications in Control

Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez

This paper describes a novel approach to learn an implicit, differentiable distance function for arbitrary configurations of a robotic manipulator used for reactive control. By exploiting GPU processing, we efficiently query the learned collision represent ...

2022

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

Shengquan Xiang

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 ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2022

Improved Plasma Vertical Position Control on TCV Using Model-Based Optimized Controller Synthesis

Stefano Coda, Federico Alberto Alfredo Felici, Cristian Galperti, Federico Pesamosca

Elongated plasmas lead to improved performance in tokamaks but make the plasma prone to vertical instability, which requires active feedback control, a critical issue for future fusion reactors. Vertical control was optimized for the TCV tokamak by applyin ...

TAYLOR & FRANCIS INC2022

Navigation of Concentric Tube Continuum Robots using Optimal Control

John Maddocks, Siva Prasad Chakri Dhanakoti

Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and ...

SCITEPRESS2022

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

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

Review of control strategies for lower-limb exoskeletons to assist gait

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori, Romain Pierre François Baud

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BMC2021

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

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Hinfini

A convex set of robust D—stabilizing controllers using Cauchy's argument principle

Implicit Distance Functions: Learning and Applications in Control

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

Improved Plasma Vertical Position Control on TCV Using Model-Based Optimized Controller Synthesis

Navigation of Concentric Tube Continuum Robots using Optimal Control

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

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

Review of control strategies for lower-limb exoskeletons to assist gait

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

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

Graph Chatbot

Chattez avec Graph Search

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

A convex set of robust D—stabilizing controllers using Cauchy's argument principle

Improved Plasma Vertical Position Control on TCV Using Model-Based Optimized Controller Synthesis

Navigation of Concentric Tube Continuum Robots using Optimal Control

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

Implicit Distance Functions: Learning and Applications in Control

Review of control strategies for lower-limb exoskeletons to assist gait

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

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

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