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 ...
The discretization of robust quadratic optimal control problems under uncertainty using the finite element method and the stochastic collocation method leads to large saddle-point systems, which are fully coupled across the random realizations. Despite its ...
Explicit time integration schemes coupled with Galerkin discretizations of time-dependent partial differential equations require solving a linear system with the mass matrix at each time step. For applications in structural dynamics, the solution of the li ...
We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effe ...
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 ...
Adjustable robust minimization problems where the objective or constraints depend in a convex way on the adjustable variables are generally difficult to solve. In this paper, we reformulate the original adjustable robust nonlinear problem with a polyhedral ...
A new approach is presented to obtain a convex set of robust D—stabilizing fixed structure controllers, relying on Cauchy's argument principle. A convex set of D—stabilizing controllers around an initial D—stabilizing controller for a multi-model set is re ...
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 ...
