Publications associées à Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Non-parametric IQC Multipliers in Data-Driven Robust Controller Synthesis

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

The paper presents a robust data-driven controller synthesis method for generalised multi-input multioutput (MIMO) systems. Using the frequency response of a linear time-invariant (LTI) MIMO system and characterising perturbations through Integral Quadrati ...

2024

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Alireza Karimi, Mert Eyuboglu, Nathan Russell Powell

This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

2024

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

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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 ...

PMLR2021

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Aude Billard, Konstantinos Chatzilygeroudis, Nuno Ricardo Ferreira Duarte, José Santos-Victor

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

IEEE2020

Robust control for an electromagnetic actuator for a camless engine

Zlatina Kirilova Dimitrova

The increase of the effective efficiency of the internal combustion engines is important for the fuel consumption reduction and the CO2 emission reduction. The variable engine valve trains are important for the gas exchanges and influence directly the effe ...

PERGAMON-ELSEVIER SCIENCE LTD2019

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

Alireza Karimi, Achille Nicoletti, Michele Martino

A new data-driven approach using the frequency response function (FRF) of a system is proposed for designing robust-fixed structure digital controllers for particle accelerators' power converters. This design method ensures that the dynamics of a system ar ...

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A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

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This paper presents the practical aspects and application of a novel data-driven, fixed-structure, robust control design method. Only the frequency response data of the system is needed for the design, and no parametric model is required. The method can be ...

IEEE2018

A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

Alireza Karimi, Christoph Manuel Kammer

2018

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Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Non-parametric IQC Multipliers in Data-Driven Robust Controller Synthesis

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Data-driven Methods for Control: from Linear to Lifting

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Robust control for an electromagnetic actuator for a camless engine

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

Kernel methods and Model predictive approaches for Learning and Control

A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

Graph Chatbot

Chattez avec Graph Search

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Non-parametric IQC Multipliers in Data-Driven Robust Controller Synthesis

Data-driven Methods for Control: from Linear to Lifting

Robust control for an electromagnetic actuator for a camless engine

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Kernel methods and Model predictive approaches for Learning and Control

A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope