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Concept

Robustesse (ingénierie)

Publications associées (27)

Learning dynamical systems with bifurcations

Aude Billard, Farshad Khadivar, Ilaria Lauzana

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 ...

Elsevier2021

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

Amit Yedidia Dolev

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 ...

SPRINGER2021

Hierarchical Control of Islanded Microgrids with Flexible Structures

Pulkit Nahata

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 ...

EPFL2021

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

Probabilistic Adaptive Control for Robust Behavior Imitation

Sylvain Calinon, Hakan Girgin, Julius Maximilian Jankowski

In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...

IEEE2021

Actor neural networks for the robust control of partially measured nonlinear systems showcased for image propagation through diffuse media

Demetri Psaltis, Christophe Moser, Damien Claude-Marie Loterie, Eirini Kakkava, Babak Rahmani, Ugur Tegin, Navid Borhani

The output of physical systems, such as the scrambled pattern formed by shining the spot of a laser pointer through fog, is often easily accessible by direct measurements. However, selection of the input of such a system to obtain a desired output is diffi ...

SPRINGERNATURE2020

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

Aude Billard, José Santos-Victor, Nuno Ricardo Ferreira Duarte, Konstantinos Chatzilygeroudis

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 ...

IEEE2020