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Concept

Sliding mode control

Publications associées (28)

Frequency domain data-driven robust and optimal control

Philippe Louis Schuchert

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 ...

EPFL2024

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Colin Neil Jones, Wenjie Xu

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

Elsevier Sci Ltd2024

Advanced control strategies to exploit the hydropower potential enhancing ancillary services provision to the power system

Francesco Gerini

The European Union's Green Deal aims for a 55% reduction in greenhouse gas emissions by 2030. To reach this goal, a massive integration of Renewable Energy Sources (RES) into the power grid is necessary. As RES become a large part of the electricity genera ...

EPFL2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Homothetic Tube Model Predictive Control With Multi-Step Predictors

Giancarlo Ferrari Trecate, Melanie Nicole Zeilinger, Danilo Saccani

We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard MPC formulations by integrating multi-step predictors, which provide reduced ...

Ieee-Inst Electrical Electronics Engineers Inc2023

Dynamic pulse scheduling in ASDEX Upgrade: Disruption avoidance and investigation of the H-Mode density limit

Alessandro Pau, Federico Alberto Alfredo Felici

Operation of a tokamak device requires the coordinated operation of a multitude of systems. The sequence of operations during a discharge is both too complex and fast for human interaction. A common way of operation is a predefined sequence of operations w ...

2023

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

Methods for Grid-aware Operation and Planning of Active Distribution Networks

Rahul Kumar Gupta

The thesis presents methods for controlling and planning distributed energy resources (DERs) in active distribution networks (ADNs). It deals with three main challenges: (i) developing and experimentally validating grid-aware real-time control frameworks, ...

EPFL2023

Motor-Unit Ordering of Blindly-Separated Surface-EMG Signals for Gesture Recognition

Pasquale Davide Schiavone

Hand gestures are one of the most natural and expressive way for humans to convey information, and thus hand gesture recognition has become a research hotspot in the human-machine interface (HMI) field. In particular, biological signals such as surface ele ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Aude Billard, Harshit Khurana

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

IEEE2023

Fredholm transformation on Laplacian and rapid stabilization for the heat equation

Shengquan Xiang

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 ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2022

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Giancarlo Ferrari Trecate, Luca Furieri, Clara Lucía Galimberti

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 ...

IEEE2022

Self-Exciting Point Processes: Identification and Control

Michael Mark

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 ...

EPFL2022

Data-Driven Unknown-Input Observers and State Estimation

Giancarlo Ferrari Trecate, Mustafa Sahin Turan

Unknown-input observers (UIOs) allow for estimation of the states of an LTI system without knowledge of all inputs. In this letter, we provide a novel data-driven UIO based on behavioral system theory and the result known as Fundamental Lemma proposed by J ...

2022

PID-like active impedance control for electroacoustic resonators to design tunable single-degree-of-freedom sound absorbers

Hervé Lissek, Maxime Volery, Xinxin Guo

Sound absorption at low frequencies still remains a challenge in both scientific research and engineering practice. Natural porous materials are ineffective in this frequency range, as well as acoustic resonators which present too narrow bandwidth of absor ...

2022

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Petr Listov

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 ...

EPFL2022

Large-scale traffic signal control and multimodal network design

Dimitrios Tsitsokas

Traffic congestion constitutes one of the most frequent, yet challenging, problems to address in the urban space. Caused by the concentration of population, whose mobility needs surpass the serving capacity of urban networks, congestion cannot be resolved ...

EPFL2022

Experimental data-driven model predictive control of a hospital HVAC system during regular use

Colin Neil Jones, Christophe Salzmann, Emilio Maddalena

Herein we report a multi-zone, heating, ventilation and air-conditioning (HVAC) control case study of an industrial plant responsible for cooling a hospital surgery center. The adopted approach to guaranteeing thermal comfort and reducing electrical energy ...

2022

Mechanistic Insight into Supramolecular Polymerization in Water Tunable by Molecular Geometry

Lukas Pfeifer

Supramolecular self-assembly in water based on non-covalent bonding is attracting major attention due to the potential of hydrogels and aqueous polymers in biomedical applications. Although supramolecular polymerization in organic solvents is well establis ...

CHINESE CHEMICAL SOC2022

Resource-Aware Stochastic Self-Triggered Model Predictive Control

Colin Neil Jones, Yuning Jiang, Yingzhao Lian

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 ...

2021