Publications related to Closed-loop controller

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Colin Neil Jones, Wenjie Xu, Bratislav Svetozarevic

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

Elsevier Sci Ltd2024

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Alireza Karimi, Mert Eyuboglu

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Unified Harmonic Power-Flow and Stability Analysis of Power Grids with Converter-Interfaced Distributed Energy Resources

Johanna Kristin Maria Becker

Modern power distribution systems are experiencing a large-scale integration of Converter-Interfaced Distributed Energy Resources (CIDERs). Their presence complicates the analysis and mitigation of harmonics, whose creation and propagation may be amplified ...

EPFL2024

Stability Analysis of Input-Series/Output-Parallel Solid-State Transformers Equipped with Second-Order Harmonic Active Power Filters

Drazen Dujic, Andrea Cervone, Tianyu Wei

Solid-State Transformers with Input-Series/Output-Parallel configuration offer a convenient solution for AC/DC conversion due to their scalability and modularity. In this configuration, each module experiences a second-order harmonic ripple caused by local ...

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

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Josephine Anna Eleanor Hughes, Francesco Stella

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Organ Neuroprosthetics: Connecting Transplanted and Artificial Organs with the Nervous System

Silvestro Micera

Implantable neural interfaces with the central and peripheral nervous systems are currently used to restore sensory, motor, and cognitive functions in disabled people with very promising results. They have also been used to modulate autonomic activities to ...

Wiley2024

Stability: a search for structure

Wouter Jongeneel

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

Customizing the human-avatar mapping based on EEG error related potentials during avatar-based interaction

Olaf Blanke, José del Rocio Millán Ruiz, Ronan Boulic, Bruno Herbelin, Ricardo Andres Chavarriaga Lozano, Fumiaki Iwane, Thibault Serge Mario Porssut

Objective. A key challenge of virtual reality (VR) applications is to maintain a reliable human-avatar mapping. Users may lose the sense of controlling (sense of agency), owning (sense of body ownership), or being located (sense of self-location) inside th ...

2024

Systematic design of a multi-input multi-output controller by model-based decoupling: a demonstration on TCV using multi-species gas injection

Basil Duval, Christian Gabriel Theiler, Cristian Galperti, Artur Perek

In this paper, we present the first results of a systematically designed multi-input multi-output gas-injection controller on Tokamak a Configuration Variable (TCV). We demonstrate the simultaneous real-time control of the NII emission front position and l ...

IOP Publishing Ltd2023

Data-Driven Control and Optimization under Noisy and Uncertain Conditions

Baiwei Guo

Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

EPFL2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Third-harmonic generation monitoring of femtosecond-laser-induced in-volume functional modifications

Christian Enz, Yves Bellouard, Assim Boukhayma, Andrea Kraxner, Olivier Bernard

During the last two decades, ultrafast in-volume laser-based processing of transparent materials has emerged as a key 3D-printing method for manufacturing a variety of complex integrated photonic devices and micro-parts. Yet, identifying suitable laser pro ...

2023

Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology

Danilo Saccani, Melanie Nicole Zeilinger

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our motivation from ...

IEEE2023

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Auke Ijspeert, Alexandre Massoud Alahi, Lixuan Tang, Anastasia Bolotnikova, George Adaimi, Chuanfang Ning

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

Making Computer Vision Models Robust and Adaptive

Shuqing Teresa Yeo

Visual perception is indispensable for many real-world applications. However, perception models deployed in the real world will encounter numerous and unpredictable distribution shifts, for example, changes in geographic locations, motion blur, and adverse ...

EPFL2023

Rapid Network Adaptation: Learning to Adapt Neural Networks Using Test-Time Feedback

Amir Roshan Zamir, Oguzhan Fatih Kar, Shuqing Teresa Yeo, Zahra Sodagar

We propose a method for adapting neural networks to distribution shifts at test-time. In contrast to training-time robustness mechanisms that attempt to anticipate and counter the shift, we create a closed-loop system and make use of test-time feedback sig ...

Ieee Computer Soc2023

A geometric optimal control approach for imitation and generalization of manipulation skills

Sylvain Calinon, Amirreza Razmjoo Fard, Jie Zhao

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Elsevier2023

Closed-Loop Control of Epidural Electrical Stimulation in Patients with Spinal Cord Injury and Parkinson's Disease

Nicolò Macellari

Over the past two decades, epidural electrical stimulation (EES) has transitioned from a treatment for chronic pain to a promising paradigm for ameliorating deficits associated with neurological disorders like spinal cord injury (SCI) and Parkinson's Disea ...

EPFL2023