Publications related to Bang–bang control

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

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

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

Achieving Optimal Performance With Data-Driven Frequency-Based Control Synthesis Methods

Alireza Karimi, Philippe Louis Schuchert

Frequency Response Function (FRF)-based control synthesis methods for Linear Time-Invariant (LTI) systems have been widely used in control theory and industry. Recently, there has been renewed interest in these methods, employing numerical optimization too ...

Ieee-Inst Electrical Electronics Engineers Inc2023

Data-driven fixed-structure frequency-based H2 and H∞ controller design

Alireza Karimi, Philippe Louis Schuchert, Vaibhav Gupta

The frequency response data of a generalized system is used to design fixed-structure controllers for the H2 and H∞ synthesis problem. The minimization of the two and infinity norm of the transfer function between the exogenous inputs and performance outpu ...

Elsevier BV2024

Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

Alcherio Martinoli, Cyrill Silvan Baumann, Wakana Endo

More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling le ...

Elsevier2023

Uncertainty-aware Flexibility Envelope Prediction in Buildings with Controller-agnostic Battery Models

Colin Neil Jones, Paul Scharnhorst, Rafael Eduardo Carrillo Rangel, Pierre-Jean Alet, Baptiste Schubnel

Buildings are a promising source of flexibility for the application of demand response. In this work, we introduce a novel battery model formulation to capture the state evolution of a single building. Being fully data-driven, the battery model identificat ...

IEEE2023

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

Navigation of Concentric Tube Continuum Robots using Optimal Control

John Maddocks, Siva Prasad Chakri Dhanakoti

Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and ...

SCITEPRESS2022

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

Josephine Anna Eleanor Hughes, Francesco Stella, Nana Obayashi

The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevert ...

Institute of Electrical and Electronics Engineers Inc.2022

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Colin Neil Jones, Petr Listov, Roland Schwan

Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...

IEEE2022

Reference tracking stochastic model predictive control over unreliable channels and bounded control actions

Colin Neil Jones

A stochastic model predictive control framework over unreliable Bernoulli communication channels, in the presence of unbounded process noise and under bounded control inputs, is presented for tracking a reference signal. The data losses in the control chan ...

2021

Motor control: Neural correlates of optimal feedback control theory

Mackenzie Mathis, Steffen Schneider

Recent work is revealing neural correlates of a leading theory of motor control. By linking an elegant series of behavioral experiments with neural inactivation in macaques with computational models, a new study shows that premotor and parietal areas can b ...

CELL PRESS2021

A modular functional framework for the design and evaluation of multi-robot navigation

Alcherio Martinoli, Cyrill Silvan Baumann

In this work, we address the design of tightly integrated control, estimation, and allocation algorithms allowing a group of robots to move collectively. For doing so, we leverage a modular framework that allows us to define precisely the needed functional ...

Elsevier2021

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

Optimal Linear Controller for Minimizing DC Voltage Oscillations in MMC-Based Offshore Multiterminal HVDC Grids

Maryam Kamgarpour, Luca Furieri

The paper aims at minimizing DC voltage oscillations in offshore multiterminal high-voltage direct current (HVDC) grids based on modular multilevel converters (MMCs). The DC voltage stability is a crucial factor in multiterminal HVDC networks since it is a ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

PolyMPC: An efficient and extensible tool for real‐time nonlinear model predictive tracking and path following for fast mechatronic systems

Colin Neil Jones, Petr Listov

This paper presents PolyMPC, an open‐source C++ library for pseudospectral‐based real‐time predictive control of nonlinear systems. It provides a necessary background on the computational aspects of the pseudospectral approximation of optimal control probl ...

2020

Data-driven methods for building control - A review and promising future directions

Colin Neil Jones, Yingzhao Lian, Emilio Maddalena

A review of the heating, ventilation and air-conditioning control problem for buildings is presented with particular emphasis on its distinguishing features. Next, we not only examine how data-driven algorithms have been exploited to tackle the main challe ...

2020

A New Time-Varying Feedback RISE Control of PKMs: Theory and Application

Mohamed Bouri

In this paper, we propose a novel time-varying feedback control strategy based on the Robust Integral of the Sign of the Error (RISE). The main motivation is to enhance the tracking performance of RISE controller at high dynamic operating conditions. RISE ...

IEEE2019

Design of Magnetic Bearing Control System Based on Active Disturbance Rejection Theory

Yuanping Xu

At present, most of the magnetic bearing system adopts the classical proportional-integral-derivative (PID) control strategy. However, the external disturbances, system parameter perturbations, and many other uncertain disturbances result in PID controller ...

2019

Second-order sensitivity in the cylinder wake: Optimal spanwise-periodic wall actuation and wall deformation

François Gallaire, Edouard Boujo, Andrea Fani

Two-dimensional (2D) flows can be controlled efficiently using spanwise "waviness," i.e., a control (e.g., wall blowing and suction or wall deformation) that is periodic in the spanwise direction. This study tackles the global linear stability of 2D flows ...

AMER PHYSICAL SOC2019