Publications related to Hybrid system

Stability: a search for structure

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

EPFL2024

A weakly nonlinear amplitude equation approach to the bypass transition in the two-dimensional Lamb–Oseen vortex

François Gallaire, Yves-Marie François Ducimetière

We analytically derive an amplitude equation for the weakly nonlinear evolution of the linearly most amplified response of a non-normal dynamical system. The development generalizes the method proposed in Ducimetière et al. (J. Fluid Mech., vol. 947, 2022, ...

Cambridge University Press2023

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Aude Billard, Michael Bosongo Bombile

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

Force Adaptation in Contact Tasks with Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

IEEE2020

Learning Non-Parametric Models with Guarantees: A Smooth Lipschitz Interpolation Approach

Colin Neil Jones, Emilio Maddalena

We propose a non-parametric regression method that does not rely on the structure of the ground-truth, but only on its regularity properties. The methodology can be readily used for learning surrogate models of nonlinear dynamical systems from data, while ...

2019

Experimental Validation of an Explicit Power-Flow Primary Control in Microgrids

Jean-Yves Le Boudec, Lorenzo Enrique Reyes Chamorro, Mario Paolone, Enrica Scolari, Andrey Bernstein, Andreas Martin Kettner, Niek Johannes Bouman, Benoit Jacques Louis Marie Cathiard

The existing approaches to control electrical grids combine frequency and voltage controls at different time-scales. When applied in microgrids with stochastic distributed-generation, grid quality of service problems may occur, such as under- or overvoltag ...

2018

Dynamical Behavior and Stability Analysis of Hydromechanical Gates

Paolo Perona, Fabian Alexander Bernhard

This study revisits the stability of hydromechanical gates for upstream water surface regulation, also known as AMIL gates. AMIL gates are used in irrigation canals, where they are often installed in series. From the regulation perspective, instabilities a ...

American Society of Civil Engineers2017

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

Certification of fixed computation time first-order optimization-based controllers for a class of nonlinear dynamical systems

Colin Neil Jones, Milan Korda

This paper proposes a stability verification method for systems controlled by an early terminated first-order method (e.g., an MPC problem approximately solved by a fixed number of iterations of the fast gradient method). The method is based on the observa ...

Ieee2014

Fictive Axis Emulator-based State Feedback Vector Current Control for Single-Phase Voltage Source Converters

Alfred Rufer, Michail Vasiladiotis

This paper presents a vector current control method tailored for single-phase voltage source converters. In order to imitate the behavior of a three-phase system, the Fictive Axis Emulation (FAE) concept is employed. The latter is able to synthesize the ro ...

2013

MPC for tracking periodic reference signals

Colin Neil Jones, Melanie Nicole Zeilinger

This paper is devoted to the design of a predictive controller for constrained linear systems to track periodic references. The only assumption on the dynamics of the reference is that it is periodic and its period is known. It is also assumed that the ref ...

2012

Numerical algorithm for feedback linearizable systems

Dominique Bonvin, Philippe Müllhaupt

A numerical algorithm that achieves asymptotic stability for feedback linearizable systems is presented. The nonlinear systems can be represented in various forms that include differential equations, simulated physical models or lookup tables. The proposed ...

American Institute of Physics2012

A Globally Convergent Algorithm for the Run-to-Run Control of Systems with Sector Nonlinearities

Dominique Bonvin, Grégory François

Run-to-run control is a technique that exploits the repetitive nature of processes to iteratively adjust the inputs and drive the run-end outputs to their reference values. It can be used to control both static and finite-time dynamic systems. Although the ...

American Chemical Society2011

Movement Curvature Planning through Force Field Internal Models

Aude Billard, Biljana Petreska von Ritter-Zahony

Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. T ...

2009

Jet-scheduling control for flat systems

Davide Buccieri

The control of cranes and nonholonomic robots has gained increased interest mainly because of the civilian and military industrial need to achieve fast and accurate transport of goods and equipment. Old and new harbors are now venturing into fully automate ...

EPFL2008

Engineering limit cycle systems : adaptive frequency oscillators and applications to adaptive locomotion control of compliant robots

Jonas Buchli

In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...

EPFL2007

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

Design and Control of an Indoor Coaxial Helicopter

Roland Siegwart, Gilles Caprari, Samir Bouabdallah

This paper presents the design and preliminary control of an indoor coaxial helicopter �CoaX� based on a concept of hybrid active and passive control. The robot is capable of passive roll and pitch stabilization against small disturbances while a ...

2006