Publications associées à Tout ou rien

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

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 AG2023

Achieving Optimal Performance With Data-Driven Frequency-Based Control Synthesis Methods

Alireza Karimi, Philippe Louis Schuchert

Frequency Response Function (FRF)-based control synthesis methods for Linear Time-Invariant (LTI) systems have been widely used in control theory and industry. Recently, there has been renewed interest in these methods, employing numerical optimization too ...

Piscataway2023

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

Alireza Karimi, Vaibhav Gupta, Philippe Louis Schuchert

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 ...

2023

Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

Alcherio Martinoli, Cyrill Silvan Baumann, Wakana Endo

More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling le ...

Elsevier2023

Uncertainty-aware Flexibility Envelope Prediction in Buildings with Controller-agnostic Battery Models

Colin Neil Jones, Paul Scharnhorst, Rafael Eduardo Carrillo Rangel, Pierre-Jean Alet, Baptiste Schubnel

Buildings are a promising source of flexibility for the application of demand response. In this work, we introduce a novel battery model formulation to capture the state evolution of a single building. Being fully data-driven, the battery model identificat ...

IEEE2023

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

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

Josephine Anna Eleanor Hughes, Francesco Stella, Nana Obayashi

The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevert ...

Institute of Electrical and Electronics Engineers Inc.2022

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Colin Neil Jones, Roland Schwan, Petr Listov

Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...

2021

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Tout ou rien

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Achieving Optimal Performance With Data-Driven Frequency-Based Control Synthesis Methods

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

Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

Uncertainty-aware Flexibility Envelope Prediction in Buildings with Controller-agnostic Battery Models

Self-Exciting Point Processes: Identification and Control

Navigation of Concentric Tube Continuum Robots using Optimal Control

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Graph Chatbot

Chattez avec Graph Search

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

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

Self-Exciting Point Processes: Identification and Control

Achieving Optimal Performance With Data-Driven Frequency-Based Control Synthesis Methods

Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

Navigation of Concentric Tube Continuum Robots using Optimal Control

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Uncertainty-aware Flexibility Envelope Prediction in Buildings with Controller-agnostic Battery Models

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype