Publications related to Intelligent control

Accurate and agile flight with winged drones

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

EPFL2024

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

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

EPFL2023

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

Stabilization and Performance Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Alireza Karimi, Seyed Sohail Madani

Power-Hardware-in-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed instruments and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model ...

2022

Voltage Control in Active Distribution Networks Under Uncertainty in the System Model: A Robust Optimization Approach

Mario Paolone, Konstantina Christakou, Ali Abur

Within the context of ancillary services for Active Distribution Networks (ADNs), application of intelligent control techniques is required in order to achieve specific operation objectives. Despite their differences, most control mechanisms proposed in th ...

2018

Review on Control of DC Microgrids

Giancarlo Ferrari Trecate

This paper performs an extensive review on control schemes and architectures applied to dc microgrids (MGs). It covers multilayer hierarchical control schemes, coordinated control strategies, plug-and-play operations, stability and active damping aspects, ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Crosswind Kite Control - A Benchmark Problem for Advanced Control and Dynamic Optimization

Dominique Bonvin, Grégory François, Sean Costello

This article presents a kite control and optimization problem intended as a benchmark problem for advanced control and optimization. We provide an entry point to this exciting renewable energy system for researchers in control and optimization methods look ...

Wiley-Blackwell2017

Operation and Control of Single-to-Three-Phase Direct AC/AC Modular Multilevel Converters under Asymmetric Grid Conditions

Alfred Rufer, Michail Vasiladiotis, Nicolas Cherix

Single-to-three-phase direct AC/AC Modular Multilevel Converters have gained a significant interest in the field of railway interties. The use of such an MMC-based structure implies more advanced control techniques as well as design requirements, especiall ...

2015

Real-Time Optimal Controls for Active Distribution Networks : From Concepts to Applications

Konstantina Christakou

Decentralized generation, distributed energy storage systems and active participation of end-users in the lower level of the electrical infrastructure, intelligently managed to provide grid support, define the notion of Active Distribution Networks (ADNs). ...

EPFL2015

Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator

Yves Perriard, Leopoldo Rossini

This article presents the first closed-loop magnetic bearing and angular velocity experimental results of a reaction sphere actuator for satellite attitude control. The proposed reaction sphere is a permanent magnet spherical actuator whose rotor is suppor ...

Pergamon-Elsevier Science Ltd2015

Use of model predictive control and weather forecasts for energy efficient building climate control

Colin Neil Jones

This paper presents an investigation of how ModelPredictiveControl (MPC) and weatherpredictions can increase the energy efficiency in Integrated Room Automation (IRA) while respecting occupant comfort. IRA deals with the simultaneous control of heating, ve ...

Elsevier2012

A multiresolution approximation method for fast explicit model predictive control

Colin Neil Jones

A model predictive control law is given by the solution to a parametric optimization problem that can be pre- computed offline and provides an explicit map from state to control input. In this paper, an algorithm is introduced based on wavelet multiresolut ...

Institute of Electrical and Electronics Engineers2011

Increasing energy efficiency in building climate control using weather forecasts and model predictive control

Colin Neil Jones

This paper presents an investigation of how Model Predictive Control (MPC) and weather predictions can increase the energy efficiency in Integrated Room Automation (IRA) while respecting occupant comfort. IRA deals with the simultaneous control of heating, ...

2010

Sensorless Position Control of Piezoelectric Ultrasonic Motors : a Mechatronic Design Approach

Markus Flückiger

This dissertation considers mechatronic systems driven by piezoelectric ultrasonic motors (PUM). The focus is set on optimal system design and sensorless position control. Mechatronic industry faces the challenge to deliver ever more efficient and reliable ...

EPFL2010

A multiscale approximation scheme for explicit model predictive control with stability, feasibility, and performance guarantees

Colin Neil Jones, John Lygeros

In this paper, an algorithm is introduced based on classical wavelet multiresolution analysis that returns a low complexity explicit model predictive control law built on a hierarchy of second order interpolating wavelets. It is proven that the resulting i ...

IEEE2009

Dedicated controller design for a dual-stage opto-mechatronic system

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

To improve the resolution of the Very Large Telescope Interferometer (VLTI) a two-stage mechanical system, a so called Differential Delay Line (DDL), is developed jointly by the EPFL and the Observatory of Geneva. The system is designed to reach nanometer ...

IEEE2008

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

Effects of stress and genotype on meta-parameter dynamics in reinforcement learning

Maria del Carmen Sandi Perez, Wulfram Gerstner, Gediminas Luksys, Jérémie Knüsel

Stress and genetic background regulate different aspects of behavioral learning through the action of stress hormones and neuromodulators. In reinforcement learning (RL) models, meta-parameters such as learning rate, future reward discount factor, and expl ...

2007

Adaptive cooperation between driver and assistant system to improve the road safety

Frédéric Holzmann

The last decades have seen the most important improvements of the safety on the road. But most of the accidents are still coming from the driver when a source of danger is not noticed or when the reaction is not correct during an unusual situation. Two way ...

EPFL2006