Publications associées à Tout ou rien

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

Jonas Buchli, Farbod Farshidian, Alexander Winkler

In this letter, we present a trajectory optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In c ...

2017

On turnpike and dissipativity properties of continuous-time optimal control problems

Dominique Bonvin, Colin Neil Jones, Timm Faulwasser, Milan Korda

This paper investigates the relations between three different properties, which are of importance in optimal control problems: dissipativity of the underlying dynamics with respect to a specific supply rate, optimal operation at steady state, and the turnp ...

Pergamon-Elsevier Science Ltd2017

Data-driven Demand Response Modeling and Control of Buildings with Gaussian Processes

Colin Neil Jones, Xuan Truong Nghiem

This paper presents an approach to provide demand response services with buildings. Each building receives a normalized signal that tells it to increase or decrease its power demand, and the building is free to implement any suitable strategy to follow the ...

2017

Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems

Maryam Kamgarpour, Jonas Buchli, Farbod Farshidian

In this contribution, we introduce an efficient method for solving the optimal control problem for an unconstrained nonlinear switched system with an arbitrary cost function. We assume that the sequence of the switching modes are given but the switching ti ...

2017

A Root-Locus Design Methodology Derived From the Impedance/Admittance Stability Formulation and Its Application for LCL Grid-Connected Converters in Wind Turbines

Francisco Daniel Freijedo Fernández, Enrique Rodriguez Diaz

This paper presents a systematic methodology for the design and the tuning of the current controller in LCL grid-connected converters for wind turbine applications. The design target is formulated as a minimization of the current loop dominant time constan ...

Ieee-Inst Electrical Electronics Engineers Inc2017

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

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Plasma stability is one of the obstacles in the path to the successful operation of fusion devices. Numerical control-oriented codes as it is the case of the widely accepted RZIp may be used within Tokamak simulations. The novelty of this article relies in ...

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Fixed-structure LPV discrete-time controller design with induced l(2)-norm and H-2 performance

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A new method for the design of fixed-structure dynamic output-feedback linear parameter-varying (LPV) controllers for discrete-time LPV systems with bounded scheduling parameter variations is presented. Sufficient conditions for the stability, H-2 and indu ...

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Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

On turnpike and dissipativity properties of continuous-time optimal control problems

Data-driven Demand Response Modeling and Control of Buildings with Gaussian Processes

Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems

A Root-Locus Design Methodology Derived From the Impedance/Admittance Stability Formulation and Its Application for LCL Grid-Connected Converters in Wind Turbines

Batch Mode TD(lambda) for Controlling Partially Observable Gene Regulatory Networks

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Real Time Hybrid Model Predictive Control for the Current Profile of the Tokamak a Configuration Variable (TCV)

Fixed-structure LPV discrete-time controller design with induced l(2)-norm and H-2 performance

Moment-sum-of-squares hierarchies for set approximation and optimal control

Graph Chatbot

Chattez avec Graph Search

Data-driven Demand Response Modeling and Control of Buildings with Gaussian Processes

Fixed-structure LPV discrete-time controller design with induced l(2)-norm and H-2 performance

Moment-sum-of-squares hierarchies for set approximation and optimal control

Batch Mode TD(lambda) for Controlling Partially Observable Gene Regulatory Networks

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

A Root-Locus Design Methodology Derived From the Impedance/Admittance Stability Formulation and Its Application for LCL Grid-Connected Converters in Wind Turbines

Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems

Real Time Hybrid Model Predictive Control for the Current Profile of the Tokamak a Configuration Variable (TCV)

On turnpike and dissipativity properties of continuous-time optimal control problems