Related papers: Deux am\'eliorations concurrentes des PID
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…
Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight…
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to…
We consider a model predictive control (MPC) setting, where we use the alternating direction method of multipliers (ADMM) to exploit problem structure. We take advantage of interacting components in the controlled system by decomposing its…
Model Predictive Control (MPC) is a well-established approach to solve infinite horizon optimal control problems. Since optimization over an infinite time horizon is generally infeasible, MPC determines a suboptimal feedback control by…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
Artificial potential fields (APFs) and their variants have been a staple for collision avoidance of mobile robots and manipulators for almost 40 years. Its model-independent nature, ease of implementation, and real-time performance have…
The race towards performance increase and computing power has led to chips with heterogeneous and complex designs, integrating an ever-growing number of cores on the same monolithic chip or chiplet silicon die. Higher integration density,…
We propose a novel robust Model Predictive Control (MPC) scheme for nonlinear multi-input multi-output systems of relative degree one with stable internal dynamics. The proposed algorithm is a combination of funnel MPC, i.e., MPC with a…
In this paper we present a convex formulation of the Model Predictive Control (MPC) optimisation for energy management in hybrid electric vehicles, and an Alternating Direction Method of Multipliers (ADMM) algorithm for its solution. We…
This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. The objective of the proposed controller…
In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator…
Model-free learning-based control methods have seen great success recently. However, such methods typically suffer from poor sample complexity and limited convergence guarantees. This is in sharp contrast to classical model-based control,…
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained…
Autonomous robots deployed in unknown search-and-rescue (SaR) environments can significantly improve the efficiency of the mission by assisting in fast localisation and rescue of the trapped victims. We propose a novel integrated…
Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints.…
In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…
This work presents a general framework for the advanced control of a common class of activated sludge plants (ASPs). Based on a dynamic model of the process and plant sensors and actuators, we design and configure a highly customisable…
A three-phase isolated AC-DC-DC power supply is widely used in the industrial field due to its attractive features such as high-power density, modularity for easy expansion and electrical isolation. In high-power application scenarios, it…
Vehicle suspension is important for passengers to travel comfortably and to be less exposed to effects such as vibration and shock. A good suspension system increases the road holding of vehicles, allows them to take turns safely, and…