Publications associées à Représentation d'état

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Alireza Karimi, Mert Eyuboglu, Nathan Russell Powell

This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

2024

Data-driven fixed-structure frequency-based H2 and H∞ controller design

Alireza Karimi, Philippe Louis Schuchert, Vaibhav Gupta

The frequency response data of a generalized system is used to design fixed-structure controllers for the H2 and H∞ synthesis problem. The minimization of the two and infinity norm of the transfer function between the exogenous inputs and performance outpu ...

Elsevier BV2024

Dynamic pulse scheduling in ASDEX Upgrade: Disruption avoidance and investigation of the H-Mode density limit

Federico Alberto Alfredo Felici, Alessandro Pau, Bernhard Sieglin

Operation of a tokamak device requires the coordinated operation of a multitude of systems. The sequence of operations during a discharge is both too complex and fast for human interaction. A common way of operation is a predefined sequence of operations w ...

2023

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Josephine Anna Eleanor Hughes, Francesco Stella

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Self-Exciting Point Processes: Identification and Control

Michael Mark

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 ...

EPFL2022

Data-Driven Unknown-Input Observers and State Estimation

Giancarlo Ferrari Trecate, Mustafa Sahin Turan

Unknown-input observers (UIOs) allow for estimation of the states of an LTI system without knowledge of all inputs. In this letter, we provide a novel data-driven UIO based on behavioral system theory and the result known as Fundamental Lemma proposed by J ...

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

Locally active globally stable dynamical systems: Theory, learning, and experiments

Aude Billard, Nadia Barbara Figueroa Fernandez

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human-robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research ...

SAGE PUBLICATIONS LTD2022

A Distributed Luenberger Observer for Linear State Feedback Systems With Quantized and Rate-Limited Communications

Colin Neil Jones, Andrea Alessandretti, Ye Pu, Francisco Fernandes Castro Rego

This article addresses the problem of simultaneous distributed state estimation, and control of linear systems with linear state feedback, subjected to process, and measurement noise, under the constraints of quantized, and rate-limited network data transm ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Advanced methods for Brillouin based distributed optical fiber sensors

Simon Adrien Zaslawski

After more than thirty years of continuous research and development, the performances of conventional Brillouin based distributed optical fiber sensors (DOFS) are now peaking, as they are facing fundamental barriers that restrict the power of the light inj ...

EPFL2021