Publication

Model-Free Precompensator and Feedforward Tuning Based on the Correlation Approach

Publications associées (28)

Machine Learning Methods for Robust Uncertainty Quantification and Controller Approximation

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 ...

EPFL2023

Data-driven fixed-structure frequency-based H2 and H∞ controller design

Alireza Karimi, Philippe Louis Schuchert, Vaibhav Gupta

The frequency response data of a generalized system is used to design fixed-structure controllers for the H2 and H∞ synthesis problem. The minimization of the two and infinity norm of the transfer function between the exogenous inputs and performance outpu ...

Elsevier BV2024

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

Homothetic Tube Model Predictive Control With Multi-Step Predictors

Melanie Nicole Zeilinger, Giancarlo Ferrari Trecate, 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

Making Computer Vision Models Robust and Adaptive

Shuqing Teresa Yeo

Visual perception is indispensable for many real-world applications. However, perception models deployed in the real world will encounter numerous and unpredictable distribution shifts, for example, changes in geographic locations, motion blur, and adverse ...

EPFL2023

Uncertainty-aware Flexibility Envelope Prediction in Buildings with Controller-agnostic Battery Models

Baptiste Schubnel, Colin Neil Jones, Rafael Eduardo Carrillo Rangel, Pierre-Jean Alet, Paul Scharnhorst

Buildings are a promising source of flexibility for the application of demand response. In this work, we introduce a novel battery model formulation to capture the state evolution of a single building. Being fully data-driven, the battery model identificat ...

IEEE2023

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Aude Billard, Farshad Khadivar

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Linear Parameter-Varying Control of A Power-Synchronized Grid-Following Inverter

Alireza Karimi, Behrooz Bahrani

This paper proposes a Linear Parameter-Varying loop-shaping controller for a power-synchronized grid-following inverter (PSGFLI). This control strategy regulates the inverter output active and reactive power at the terminal instead of the point of connecti ...

2022