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Bio-inspired standing balance controller for a full-mobilization exoskeleton

Publications associées (32)

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

Profile control simulations and experiments on TCV: a controller test environment and results using a model-based predictive controller

Olivier Sauter, Timothy Goodman, Jean-Marc Moret, Federico Alberto Alfredo Felici, Antoine Pierre Emmanuel Alexis Merle, Cristian Galperti, Mengdi Kong, Francesco Carpanese, Sun Hee Kim, Doohyun Kim, Anna Teplukhina, Donghyun Kim

The successful performance of a model predictive profile controller is demonstrated in simulations and experiments on the TCV tokamak, employing a profile controller test environment. Stable high-performance tokamak operation in hybrid and advanced plasma ...

2017

A Nonlinear Adaptive Controller for Airborne Wind Energy Systems

Colin Neil Jones, Ioannis Lymperopoulos, Andrea Alessandretti, Sanket Sanjay Diwale

A nonlinear adaptive path following controller for a kite based airborne wind energy system is presented. For a given desired geometric path, we provide necessary conditions for closed-loop convergence of the kite to a tube centered around the desired path ...

2016

Voltage stabilization in DC microgrids: an approach based on line-independent plug-and-play controllers

Giancarlo Ferrari Trecate

We consider the problem of stabilizing voltages in DC microGrids (mGs) given by the interconnection of Distributed Generation Units (DGUs), power lines and loads. We propose a decentralized control architecture where the primary controller of each DGU can ...

2016

Robust Smith Predictor Design for Time-Delay Systems with H∞ Performance

Alireza Karimi, Achille Nicoletti, Vinicius De Oliveira

A new method for robust fixed-order H∞ controller design for uncertain time-delay systems is presented. It is shown that the H∞ robust performance condition can be represented by a set of convex constraints with respect to the parameters of a linearly para ...

Springer2015

Fixed-order Linear Parameter Varying Controller Design for a 2DOF Gyroscope

Alireza Karimi, Zlatko Emedi

This paper presents an approach for fixed-order Linear Parameter Varying (LPV) controller design with application to a 2 Degree-of-Freedom (2DOF) gyroscope experimental setup. Inner convex approximation of the non-convex set of all stabilizing fixed-order ...

2015

H∞ smith predictor design for time-delayed MIMO systems via convex optimization

Alireza Karimi, Achille Nicoletti

A new method for robust fixed-order H∞ controller design for uncertain time-delayed MIMO systems is presented. It is shown that the H∞ robust performance condition can be represented by a set of convex constraints with respect to the parameters of a linear ...

IEEE2014

A comparison of model-based and data-driven controller tuning

Alireza Karimi, Klaske van Heusden

In many industrial applications, finding a model from physical laws that is both simple and reliable for control design is a hard and time-consuming undertaking. When a set of input/output measurements is available, one can derive the controller directly f ...

Wiley-Blackwell2014

Controller design and region of attraction estimation for nonlinear dynamical systems

Colin Neil Jones, Milan Korda

This work presents a method to obtain inner and outer approximations of the region of attraction of a given target set as well as an admissible controller generating the inner approximation. The method is applicable to constrained polynomial dynamical syst ...

2014

Iterative Controller Tuning by Real-Time Optimization

Dominique Bonvin, Grégory François, Gene Bunin

The present article looks at the problem of iterative controller tuning, where the parameters of a given controller are adapted in an iterative manner to bring the user-defined performance metric to a local minimum for some repetitive process. Specifically ...

2013

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