Publication

SVR-AMA: An Asynchronous Alternating Minimization Algorithm With Variance Reduction for Model Predictive Control Applications

Publications associées (31)

Complexity analysis of stochastic gradient methods for PDE-constrained optimal control problems with uncertain parameters

Fabio Nobile, Matthieu Claude Martin, Sebastian Krumscheid

We consider the numerical approximation of an optimal control problem for an elliptic Partial Differential Equation (PDE) with random coefficients. Specifically, the control function is a deterministic, distributed forcing term that minimizes the expected ...

2021

STORM+: Fully Adaptive SGD with Momentum for Nonconvex Optimization

Volkan Cevher, Ali Kavis

In this work we investigate stochastic non-convex optimization problems wherethe objective is an expectation over smooth loss functions, and the goal is to find an approximate stationary point. The most popular approach to handling such problems is varianc ...

2021

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

Sylvain Calinon, Rohan Budhiraja, Teguh Santoso Lembono

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 ...

IEEE2021

Optimization Methods for Control: From Embedded Programmable Hardware to Data-Driven Process Optimization

Harsh Ambarishkumar Shukla

The research community has been making significant progress in hardware implementation, numerical computing and algorithm development for optimization-based control. However, there are two key challenges that still have to be overcome for optimization-base ...

EPFL2021

Large Steps in Inverse Rendering of Geometry

Wenzel Alban Jakob, Baptiste Alexandre Marie Philippe Claude Nicolet

Inverse reconstruction from images is a central problem in many scientific and engineering disciplines. Recent progress on differentiable rendering has led to methods that can efficiently differentiate the full process of image formation with respect to mi ...

ASSOC COMPUTING MACHINERY2021

Data-driven methods for building control - A review and promising future directions

Colin Neil Jones, Yingzhao Lian, Emilio Maddalena

A review of the heating, ventilation and air-conditioning control problem for buildings is presented with particular emphasis on its distinguishing features. Next, we not only examine how data-driven algorithms have been exploited to tackle the main challe ...

2020

A nonlinear model predictive control scheme for sensor fault tolerance in observation processes

Colin Neil Jones, Andrea Alessandretti

This article addresses the problem of designing a sensor fault-tolerant controller for an observation process where a primary, controlled system observes, through a set of measurements, an exogenous system to estimate the state of this system. We consider ...

WILEY2020

PolyMPC: An efficient and extensible tool for real‐time nonlinear model predictive tracking and path following for fast mechatronic systems

Colin Neil Jones, Petr Listov

This paper presents PolyMPC, an open‐source C++ library for pseudospectral‐based real‐time predictive control of nonlinear systems. It provides a necessary background on the computational aspects of the pseudospectral approximation of optimal control probl ...

2020

Data driven model free adaptive iterative learning perimeter control for large-scale urban road networks

Nikolaos Geroliminis, Isik Ilber Sirmatel, Ye Ren

Most perimeter control methods in literature are the model-based schemes designing the controller based on the available accurate macroscopic fundamental diagram (MFD) function with well known techniques of modern control methods. However, accurate modelin ...

2020

Multi-Region Network Perimeter Control via Model Free Adaptive Iterative Learning Control

Nikolaos Geroliminis, Isik Ilber Sirmatel, Ye Ren

Most perimeter control methods in literature are the model-based schemes. However, accurate modeling of the traffic flow system is hard and time-consuming. On the other hand, macroscopic traffic flow patterns show heavily similarity between days, and data ...

2020

A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

Jamie Paik, Andres San Millan Rodriguez

We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show th ...

2021