Concept
Sliding mode control
Publications associées (191)
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 ...
EPFL2024Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control
Aude Billard, Bernardo Fichera
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...
SPRINGER INTERNATIONAL PUBLISHING AG2023A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration
One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...
New York2023