Publications related to Feed forward (control)

An Iterative Adaptive Dynamic Programming Approach for Macroscopic Fundamental Diagram-Based Perimeter Control and Route Guidance

Macroscopic fundamental diagrams (MFDs) have been widely adopted to model the traffic flow of large-scale urban networks. Coupling perimeter control and regional route guidance (PCRG) is a promising strategy to decrease congestion heterogeneity and reduce ...

Informs2024

Direct Arm Energy Control of the Modular Multilevel Matrix Converter

Drazen Dujic, Milan Utvic, Philippe Alexandre Bontemps

Modular multilevel matrix converter is a type of converter used in medium-voltage ac-ac power conversion. Controlling the energy content of the converter arms is a prerequisite for a proper converter operation, and at the same time a challenging control ta ...

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

Training Efficient Controllers via Analytic Policy Gradient

Dario Floreano, Valentin Wüest, Davide Scaramuzza

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

New York2023

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Josephine Anna Eleanor Hughes, Francesco Stella

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Mean Field Type Control With Species Dependent Dynamics via Structured Tensor Optimization

Isabel Haasler, Axel Ringh, Yiqiang Chen

In this letter we consider mean field type control problems with multiple species that have different dynamics. We formulate the discretized problem using a new type of entropy-regularized multimarginal optimal transport problems where the cost is a decomp ...

2023

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

Data-driven Methods for Control: from Linear to Lifting

Yingzhao Lian

The progress towards intelligent systems and digitalization relies heavily on the use of automation technology. However, the growing diversity of control objects presents significant challenges for traditional control approaches, as they are highly depende ...

EPFL2023

Methods for Grid-aware Operation and Planning of Active Distribution Networks

Rahul Kumar Gupta

The thesis presents methods for controlling and planning distributed energy resources (DERs) in active distribution networks (ADNs). It deals with three main challenges: (i) developing and experimentally validating grid-aware real-time control frameworks, ...

EPFL2023

Machine Learning Methods for Robust Uncertainty Quantification and Controller Approximation

Emilio Maddalena

This thesis is situated at the crossroads between machine learning and control engineering. Our contributions are both theoretical, through proposing a new uncertainty quantification methodology in a kernelized context; and experimental, through investigat ...

EPFL2023

Experimental Validation of Model-less Robust Voltage Control using Measurement-based Estimated Voltage Sensitivity Coefficients

Mario Paolone, Rahul Kumar Gupta

Increasing adoption of smart meters and phasor measurement units (PMUs) in power distribution networks are enabling the adoption of data-driven/model-less control schemes to mitigate grid issues such as over/under voltages and power-flow congestions. Howev ...

IEEE2023

PID-like active impedance control for electroacoustic resonators to design tunable single-degree-of-freedom sound absorbers

Hervé Lissek, Maxime Volery, Xinxin Guo

Sound absorption at low frequencies still remains a challenge in both scientific research and engineering practice. Natural porous materials are ineffective in this frequency range, as well as acoustic resonators which present too narrow bandwidth of absor ...

2022

Experimental data-driven model predictive control of a hospital HVAC system during regular use

Colin Neil Jones, Christophe Salzmann, Emilio Maddalena

Herein we report a multi-zone, heating, ventilation and air-conditioning (HVAC) control case study of an industrial plant responsible for cooling a hospital surgery center. The adopted approach to guaranteeing thermal comfort and reducing electrical energy ...

2022

Locomotion of Sensor‐Integrated Soft Robotic Devices Inside Sub‐Millimeter Arteries with Impaired Flow Conditions

Diego Ghezzi, Mahmut Selman Sakar, Lorenzo Francesco John Noseda, Amit Yedidia Dolev, Lucio Feo Pancaldi-Giubbini, Adele Fanelli

One of the grand challenges in interventional cardiology and neuroradiology is to minimize the operation time and risk of damage during catheterization. These two factors drastically increase if the target location resides in small and tortuous vessels. Fl ...

Wiley2022

Improved Plasma Vertical Position Control on TCV Using Model-Based Optimized Controller Synthesis

Stefano Coda, Federico Alberto Alfredo Felici, Cristian Galperti, Federico Pesamosca

Elongated plasmas lead to improved performance in tokamaks but make the plasma prone to vertical instability, which requires active feedback control, a critical issue for future fusion reactors. Vertical control was optimized for the TCV tokamak by applyin ...

2022

Self-Exciting Point Processes: Identification and Control

Michael Mark

This thesis addresses theoretical and practical aspects of identification and subsequent control of self-exciting point processes. The main contributions correspond to four separate scientific papers. In the first paper, we address the challenge of robust ...

EPFL2022

Large-scale traffic signal control and multimodal network design

Dimitrios Tsitsokas

Traffic congestion constitutes one of the most frequent, yet challenging, problems to address in the urban space. Caused by the concentration of population, whose mobility needs surpass the serving capacity of urban networks, congestion cannot be resolved ...

EPFL2022

Perimeter Control and Route Guidance of Multi-Region MFD Systems With Boundary Queues Using Colored Petri Nets

Nikolaos Geroliminis, Anastasios Kouvelas, Hui Fu

Perimeter control based on Macroscopic Fundamental Diagram (MFD) aims to meter the number of transferring vehicles at the periphery of the protected urban region in order to obtain the desired number of vehicles in that region. The advantage of perimeter c ...

IEEE Institute of Electrical and Electronics Engineers2022

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Teguh Santoso Lembono, Rohan Budhiraja

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

Automatic locking of a parametrically resonating, base-excited, nonlinear beam

Amit Yedidia Dolev

Described is a closed-loop control scheme capable of stabilizing a parametrically excited nonlinear structure in several vibration modes. By setting the relative phase between the spatially filtered response and the excitation, the open-loop unstable solut ...

SPRINGER2021