Related papers: Control Co-design of Actively Controlled Lightweig…
Accurate positioning and fast traversal times determine the productivity in machining applications. This paper demonstrates a hierarchical contour control implementation for the increase of productivity in positioning systems. The…
Empirical experiences have shown that simultaneous (rather than conventional sequential) plant and controller design procedure leads to an improvement in performance and saving of plant resources. Such a simultaneous synthesis procedure is…
The paper describes a receding horizon control design framework for continuous-time stochastic nonlinear systems subject to probabilistic state constraints. The intention is to derive solutions that are implementable in real-time on…
Modern precision manufacturing faces the challenge of integrating accuracy requirements into a framework of agile and sustainable production technologies. This development leads to numerous further challenges, affecting almost all areas of…
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…
A coded distributed computing (CDC) system aims to reduce the communication load in the MapReduce framework. Such a system has $K$ nodes, $N$ input files, and $Q$ Reduce functions. Each input file is mapped by $r$ nodes and each Reduce…
Piezo-stepper actuators are used in many nanopositioning systems due to their high resolution, high stiffness, fast response, and the ability to position a mover over an infinite stroke by means of motion reminiscent of walking. The aim of…
A promising direction towards improving the performance of wave energy converter (WEC) farms is to leverage a system-level integrated approach known as control co-design (CCD). A WEC farm CCD problem may entail decision variables associated…
Cloud computing creates new possibilities for control applications by offering powerful computation and storage capabilities. In this paper, we propose a novel cloud-assisted model predictive control (MPC) framework in which we…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
Predictive simulations of complex systems are essential for applications ranging from weather forecasting to drug design. The veracity of these predictions hinges on their capacity to capture the effective system dynamics. Massively…
In this survey paper, we review recent work on frameworks for the high-level, portable programming of heterogeneous multi-/manycore systems (especially, GPU-based systems) using high-level constructs such as annotated user-level software…
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumptions such as small rotation angle and pre-defined gait,…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
Active structures have the ability to change their shape, properties, and functionality as a response to changing operational conditions, which makes them more versatile than their static counterparts. However, most active structures…
This work introduces an optimization-based locomotion control framework for on-the-fly synthesis of complex dynamic maneuvers. At the core of the proposed framework is a cascaded-fidelity model predictive controller (Cafe-Mpc). Cafe-Mpc…
We address the problem of sparsity-promoting optimal control of cyber-physical systems (CPSs) in the presence of communication delays. The delays are categorized into two types - namely, an inter-layer delay for passing state and control…
Novel devices and novel computing paradigms are key for energy efficient, performant future computing systems. However, designing devices for new applications is often time consuming and tedious. Here, we investigate the design and…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…