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Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Publications associées (74)

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Improved multi-aircraft ground trajectory prediction for air traffic control

John Lygeros, Ioannis Lymperopoulos

Accurate trajectory prediction plays a fundamental role in advanced air traffic control operations, because it forms the basis for (among others) conflict detection and resolution schemes. It has been demonstrated that improved trajectory prediction accura ...

American Institute of Aeronautics and Astronautics2010

A hardware-software codesign framework for cellular computing

Pierre-André Mudry

Until recently, the ever-increasing demand of computing power has been met on one hand by increasing the operating frequency of processors and on the other hand by designing architectures capable of exploiting parallelism at the instruction level through h ...

EPFL2009

Nonlinear Predictive Control based on Asynchronous Measurement and Control Signals

Timm Faulwasser, Benjamin Kern

In many control problems the measurement instances might not be available in a periodically-equally-distributed way and/or the same might occur to the control signals. Moreover, due to the sensor evaluation time, calibration of actuators and sensors, or re ...

2009

Learning and Control of UAV maneuvers Based on Demonstrations

Aude Billard, Seyed Mohammad Khansari Zadeh

Many maneuvers of Unmanned Aerial Vehicles (UAV) can be considered within a framework of trajectory following. Though this issue can differ from one application to another, they all share the same problem of finding an optimal path (or signal) to perform t ...

2009

Vision-based control of near-obstacle flight

Dario Floreano, Jean-Christophe Zufferey, Antoine Beyeler

This paper presents a novel control strategy, which we call optiPilot, for autonomous flight in the vicinity of obstacles. Most existing autopilots rely on a complete 6-degree-of-freedom state estimation using a GPS and an Inertial Measurement Unit (IMU) a ...

2009

Vision-based control of near-obstacle flight

Antoine Beyeler

Lightweight micro unmanned aerial vehicles (micro-UAVs) capable of autonomous flight in natural and urban environments have a large potential for civil and commercial applications, including environmental monitoring, forest fire monitoring, homeland securi ...

EPFL2009

A Fast Model Free Intelligent Controller Based on Fused Emotions: A Practical Case Implementation

Arash Arami

In this paper a combination of brain emotional learning based intelligent controllers (BELBICs) is employed to control an unidentified practical overhead crane. The proposed controller is a model free controller and has the capability to deal with multi-ob ...

IEEE2008

Predictive Optimal Management Method for the control of polygeneration systems

François Maréchal

A predictive optimal control system for micro-cogeneration in domestic applications has been developed. This system aims at integrating stochastic inhabitant behavior and meteorological conditions as well as modeling imprecisions, while deﬁning operation s ...

Elsevier Science, Reg Sales Off, Customer Support Dept, 655 Ave Of The Americas, New York, Ny 10010 Usa2008

Design and control of quadrotors with application to autonomous flying

Samir Bouabdallah

This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such syste ...

EPFL2007

Bio-inspired cellular machines

Fabien Vannel

Information technology has only been around for about fifty years. Although the beginnings of automatic calculation date from as early as the 17th century (W. Schickard built the first mechanical calculator in 1623), it took the invention of the transistor ...

EPFL2007