Publications associées à Methodologie d'Optimisation Dynamique et de Commande Optimale des Petites Stations d'Epuration a Boues Activees

Optimization based control for target estimation and tracking via highly observable trajectories

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper presents a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives a follower vehicle to a target vehicle using on-line estimation of the target position an ...

2014

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

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

We investigate the turnpike and dissipativity properties of continuous-time optimal control problems. These properties play a key role in the analysis and design of schemes for dynamic real-time optimization and economic model predictive control. We show i ...

2014

Multi-Parametric Toolbox 3.0

Colin Neil Jones

The Multi-Parametric Toolbox is a col- lection of algorithms for modeling, control, analysis, and deployment of constrained optimal controllers developed under Matlab. It features a powerful ge- ometric library that extends the application of the toolbox b ...

2013

Decoupled dq-Current Control of Grid-Tied Voltage Source Converters Using Nonparametric Models

Alfred Rufer, Alireza Karimi, Behrooz Bahrani

This paper presents a vector control strategy for regulating the current of grid-tied voltage source converters (VSCs) in a rotating reference frame. The proposed approach is based on shaping the open-loop and closed-loop transfer matrices of the system. S ...

Institute of Electrical and Electronics Engineers2013

Open-loop control of a separated boundary layer

François Gallaire, Edouard Boujo

Linear optimal gains

G_opt(\omega)

are computed for the separated boundary-layer flow past a two-dimensional bump in the subcritical regime. Very large values are found, making it possible for small-amplitude noise to be strongly amplified and to destabi ...

Cépaduès Editions2013

Forced reattachment in separated flows: a variational approach to recirculation length reduction

François Gallaire, Edouard Boujo

Sensitivity analysis is used to design an open-loop control for separated flows. The length of the recirculation region

l_c

is expressed as a cost functional, and its sensitivity to actuation is derived analytically. This analysis allows to identify regi ...

2013

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous time systems where an extra performance index, which is not a measure of the distance to the set point, is introduced to influence the transient behavior of the controlled ...

2013

Optimization-based solutions to constrained trajectory-tracking and path-following problems

Timm Faulwasser

The prototypical problem in control theory is the stabilization of a set point. When, instead of a set point, a time-varying reference needs to be stabilized, then the problem is called trajectory tracking. Typical examples of trajectory-tracking problems ...

Shaker Verlag2013

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Auke Ijspeert, Yannick Morel

Motion control of bio-inspired mobile robotic platforms can prove a challenging problem. In particular, models for the considered type of systems may prove nonlinear, uncertain, and fairly complicated. To address these issues, use of an output predictor-ba ...

Amer Soc Mechanical Engineers2013

Methodologie d'Optimisation Dynamique et de Commande Optimale des Petites Stations d'Epuration a Boues Activees

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Optimization based control for target estimation and tracking via highly observable trajectories

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

Multi-Parametric Toolbox 3.0

Decoupled dq-Current Control of Grid-Tied Voltage Source Converters Using Nonparametric Models

Open-loop control of a separated boundary layer

Forced reattachment in separated flows: a variational approach to recirculation length reduction

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Optimization-based solutions to constrained trajectory-tracking and path-following problems

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Optimization based control for target estimation and tracking via highly observable trajectories

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Decoupled dq-Current Control of Grid-Tied Voltage Source Converters Using Nonparametric Models

Forced reattachment in separated flows: a variational approach to recirculation length reduction

Multi-Parametric Toolbox 3.0

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Open-loop control of a separated boundary layer

Optimization-based solutions to constrained trajectory-tracking and path-following problems