Perturbation rejection control strategy for OWL

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This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

We study the rapid stabilization of the heat equation on the 1-dimensional torus using the backstepping method with a Fredholm transformation. This classical framework allows us to present the backstepping method with Fredholm transformations for the Lapla ...

This paper proposes a Control by Interconnection design, for a class of constrained Port-Hamiltonian systems, which is based on an associated Model Predictive Control optimization problem. This associated optimization problem allows to consider both state ...

This letter proposes a parallelizable algorithm for linear-quadratic model predictive control (MPC) problems with state and input constraints. The algorithm itself is based on a parallel MPC scheme that has originally been designed for systems with input c ...

Large-scale cyber-physical systems require that control policies are distributed, that is, that they only rely on local real-time measurements and communication with neighboring agents. Optimal Distributed Control (ODC) problems are, however, highly intrac ...

In recent years, several industries have widely applied BLDC servomotors for various purposes that they almost need a control system to be accurate and robust. In this paper, we compare an adaptive fuzzy controller and PI controller for BLDC servomotor pos ...

The primary objective of this doctoral thesis is the design and development of hierarchical control schemes for the overall operation and control of Islanded mGs (ImGs) with flexible structuresâ or, with no reference topologies. The control methodologies ...

The ADITYA-U tokamak (R-0 = 0.75 m, a = 0.25 m) is designed to shape plasma column in both single and double null diverter configurations. It is quite well known that sustaining a shaped plasma in tokamak requires very good plasma column position control, ...

In present day tokamaks, the role of the control research is to support the physics experiments and to prepare technologies for future devices such as ITER and DEMO. This paper presents the developments done under the MST1 program collaboration on ASDEX Up ...

This letter considers the control of uncertain systems operated under limited resource factors, such as battery life or hardware longevity. We consider here resource-aware self-triggered control techniques that schedule system operation non-uniformly in ti ...

The controllability cost for the heat equation as the control time

T

goes to 0 is well-known of the order

e^{C/T}

for some positive constant

C

, depending on the controlled domain and for all initial datum. In this paper, we prove that the constant $C ...

The high penetration of electric vehicles (EVs) charging stations (CSs), together with the progressive availability of distributed energy resources, increases the risk of grid overloading and power-quality degradation. Real-time control has been advocated ...

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 ...

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 ...

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

Perturbation rejection control strategy for OWL

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Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

A combined Control by Interconnection—Model Predictive Control design for constrained Port-Hamiltonian systems

Parallel MPC for Linear Systems With State and Input Constraints

Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach

Comparison of PI and Adaptive Fuzzy Controllers for Position Tracking of Servo System with Variable Loaded BLDC Motor

Hierarchical Control of Islanded Microgrids with Flexible Structures

Real-time feedback control system for ADITYA-U horizontal plasma position stabilisation

Developments on actuator management, plasma state reconstruction, and control on ASDEX Upgrade

Resource-Aware Stochastic Self-Triggered Model Predictive Control

A dependence of the cost of fast controls for the heat equation on the support of initial datum

Experimental Validation of the Real-Time Control of an Electric-Vehicle Charging Station

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

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

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control