Concept

Nonlinear control

Publications associées (267)

PolyMPC: An efficient and extensible tool for real‐time nonlinear model predictive tracking and path following for fast mechatronic systems

This paper presents PolyMPC, an open‐source C++ library for pseudospectral‐based real‐time predictive control of nonlinear systems. It provides a necessary background on the computational aspects of the pseudospectral approximation of optimal control probl ...

2020

Morphology and morphodynamics of braided rivers: an experimental investigation

Daniel Vito Papa

Braided rivers form some of the most fascinating fluvial patterns found on Earth. They are identifiable by their unique morphology of complex networks of intertwined channels that spread across wide floodplains. Detailed knowledge of their dynamics is need ...

EPFL2020

Security-aware Routing and Scheduling for Control Applications on Ethernet TSN Networks

Amir Aminifar

Today, it is common knowledge in the cyber-physical systems domain that the tight interaction between the cyber and physical elements provides the possibility of substantially improving the performance of these systems that is otherwise impossible. On the ...

ASSOC COMPUTING MACHINERY2020

Koopman Analysis of Isolated Fronts and Solitons

A Koopman decomposition of a complex system leads to a representation in which nonlinear dynamics appear to be linear. The existence of a linear framework with which to analyze nonlinear dynamical systems brings new strategies for prediction and control, w ...

2020

Gaussians on Riemannian Manifolds for Robot Learning and Adaptive Control

Sylvain Calinon

This article presents an overview of robot learning and adaptive control applications that can benefit from a joint use of Riemannian geometry and probabilistic representations. The roles of Riemannian manifolds, geodesics and parallel transport in robotic ...

2020

Dynamic Transit Priority Lanes in Urban Networks

Together with signal priority, dedication of space to public transport has been the most widely used policy to improve bus operations. Permanent dedicated bus lanes however can lead to an under-utilization of the available space. Dierent strategies such as ...

2020

Why choosing the right partner is important: stabilization of ternary Cs(y)GUA(x)FA((1-y-x))PbI(3)perovskites

Ursula Röthlisberger, Marko Mladenovic, Ariadni Boziki

Lead halide perovskites with mixtures of monovalent cations have attracted wide attention due to the possibility of preferentially stabilizing the perovskite phase with respect to photovoltaically less suitable competing phases. Here, we present a theoreti ...

ROYAL SOC CHEMISTRY2020

Response of noise-amplifier flows: From linear control to nonlinear jet breakup

Isha Shukla

Among hydrodynamically unstable flows, the amplifier-flows are characterized by their large amplification potential in presence of external noise. Since amplifiers do not have an intrinsic dynamics, a chosen forcing can be applied to eventually control the ...

EPFL2019

Vision-based Control of a Quadrotor in User Proximity: Mediated vs End-to-End Learning Approaches

We consider the task of controlling a quadrotor to hover in front of a freely moving user, using input data from an onboard camera. On this specific task we compare two widespread learning paradigms: a mediated approach, which learns an high-level state fr ...

2019

Model based forecasting for demand response strategies

Lorenzo Nespoli

The incremental deployment of decentralized renewable energy sources in the distribution grid is triggering a paradigm change for the power sector. This shift from a centralized structure with big power plants to a decentralized scenario of distributed ene ...

EPFL2019

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