Publication

Continuous-time Model Predictive Control for Economic Optimization

Publications associées (85)

Graph Chatbot

Chattez avec Graph Search

Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.

AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.

Connectez-vous pour utiliser Chat avec Graph Search

, ,

We present a new walking controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controlle ...

2018

Onboard State Dependent LQR for Agile Quadrotors

Davide Scaramuzza

State-of-the-art approaches in quadrotor control split the problem into multiple cascaded subproblems, exploiting the different time scales of the rotational and translational dynamics. They calculate a desired acceleration as input for a cascaded attitude ...

2018

, ,

This paper describes synthesis of controllers involving Quadratic Programming (QP) optimization problems for control of nonlinear systems. The QP structure allows an implementation of the controller as a piecewise affine function, pre-computed offline, whi ...

2017

A survey on tactical control algorithms for path tracking unmanned surface vehicles

Murat Kumru

In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater ve ...

IEEE2017

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

Milan Korda

This thesis uses the idea of lifting (or embedding) a nonlinear controlled dynamical system into an infinite-dimensional space of measures where this system is equivalently described by a linear equation. This equation and problems involving it are subsequ ...

EPFL2016

Real-Time Optimization via Directional Modifier Adaptation, with Application to Kite Control

Sean Costello

The steady advance of computational methods makes model-based optimization an increasingly attractive method for process improvement. Unfortunately, the available models are often inaccurate. The traditional remedy is to update the model parameters, but th ...

EPFL2015

A Model Predictive Control scheme with Ultimate Bound for Economic Optimization

Colin Neil Jones, Andrea Alessandretti

This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous-time systems where an economic stage cost, which is not a measure of the distance to a desired set point, is combined with a classic stabilizing stage cost. The associated ...

2015

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories An Application to Motion Control of Autonomous Robotic Vehicles

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

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

Springer-Verlag Berlin2015

From Fixed-Order Gain-Scheduling to Fixed-Structure LPV Controller Design

Zlatko Emedi

This thesis focuses on the development of some fixed-order controller design methods in the gain-scheduling/Linear Parameter Varying (LPV) framework. Gain-scheduled controllers designed using frequency-domain Single Input Single Output (SISO) models are co ...

EPFL2014

Toward broadband electroacoustic resonators through optimized feedback control strategies

Hervé Lissek, Romain Boulandet

This paper presents a methodology for the design of broadband electroacoustic resonators for low-frequency room equalization. An electroacoustic resonator denotes a loudspeaker used as a membrane resonator, the acoustic impedance of which can be modified t ...

Elsevier2014