From Fixed-Order Gain-Scheduling to Fixed-Structure LPV Controller Design
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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
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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
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This paper studies a class of partially observed Linear Quadratic Gaussian (LQG) problems with unknown dynamics. We establish an end-to-end sample complexity bound on learning a robust LQG controller for open-loop stable plants. This is achieved using a ro ...
Systematic extraction of locally valid dynamic models from experiments is necessary for controller design and the validation of high fidelity models. This paper describes the extraction of a dynamic model in the form of a transfer function, giving the dyna ...
2022
The paper presents an improved slow-speed mass balancing procedure capable of reducing high-speed related imbalance. Parametric excitation is used to project the small imbalance forces onto a chosen mode of vibration, corresponding to a high critical rotat ...
Cartesian robots have position-dependent dynamics that should be accounted for in high performance applications. Traditional methods design Linear Time Invariant (LTI) controllers which are robustly stable with respect to position variations, but require a ...
In this paper, a data-driven method for controller design with constraints on the positive-realness of closed-loop transfer functions over an arbitrary set of frequencies is proposed. The positive-realness of a closed-loop transfer function is represented ...
IEEE2020
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A new approach is presented to obtain a convex set of robust D—stabilizing fixed structure controllers, relying on Cauchy's argument principle. A convex set of D—stabilizing controllers around an initial D—stabilizing controller for a multi-model set is re ...
Elsevier2022
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In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...
2021
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Power-Hardware-In-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed algorithms and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model v ...
