Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

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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 ...

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 ...

The goal of this thesis is to propose pragmatic solutions to real challenges faced in the industry. The scope of this thesis encompasses two subjects: frequency-based structured controller synthesis for linear time-invariant (LTI) systems on one side, and ...

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

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 ...

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 ...

A novel approach for robust controller synthesis, which models uncertainty as an elliptical set, is proposed in the paper. Given a set of frequency response functions of linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems, the approac ...

This work presents a new computational optimization framework for the robust control of parks of Wave Energy Converters (WEC) in irregular waves. The power of WEC parks is maximized with respect to the individual control damping and stiffness coefficients ...

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 ...

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 ...

A critical operational challenge in Mobility-on-demand systems is the problem of imbalance between vehicle supply and passenger demand. However, conventional model-based methods require accurate parametric system models with complex nonlinear dynamics that ...

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

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 ...

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 ...

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

Diauxie, or the sequential consumption of carbohydrates in bacteria such as Escherichia coli, has been hypothesized to be an evolutionary strategy which allows the organism to maximize its instantaneous specific growth-giving the bacterium a competitive ad ...

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

A model-free iterative learning control strategy (ILC) in nonrepetitive trajectories, applied to robotic manipulators is presented in this article. The development of this ILC controller is derived in general case for second-order nonlinear multi-input mul ...

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 ...

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

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Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

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

Frequency domain data-driven robust and optimal control

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Data-driven Methods for Control: from Linear to Lifting

Data-Driven Control and Optimization under Noisy and Uncertain Conditions

Data-driven IQC-Based Robust Control Design for Hybrid Micro-disturbance Isolation Platform

Robust optimization of control parameters for WEC arrays using stochastic methods

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

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

Data-enabled Predictive Control for Empty Vehicle Rebalancing

Memory of Motion for Initializing Optimization in Robotics

Self-Exciting Point Processes: Identification and Control

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

Learning dynamical systems with bifurcations

Emergence of diauxie as an optimal growth strategy under resource allocation constraints in cellular metabolism

Review of control strategies for lower-limb exoskeletons to assist gait

Model-Free Iterative Learning Control With Nonrepetitive Trajectories for Second-Order MIMO Nonlinear Systems-Application to a Delta Robot

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

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues