A5058794263- Advanced Control Systems Optimization
- Control Systems and Identification
- Fault Detection and Control Systems
- Stability and Control of Uncertain Systems
- Adaptive Control of Nonlinear Systems
- Dynamics and Control of Mechanical Systems
- Extremum Seeking Control Systems
- Iterative Learning Control Systems
- Formal Methods in Verification
- Control and Dynamics of Mobile Robots
- Robotic Path Planning Algorithms
- Control and Stability of Dynamical Systems
- Autonomous Vehicle Technology and Safety
- Robotic Locomotion and Control
- Magnetic confinement fusion research
- Hydraulic and Pneumatic Systems
- Motor Control and Adaptation
- Distributed Control Multi-Agent Systems
- Fusion materials and technologies
- Probabilistic and Robust Engineering Design
- Superconducting Materials and Applications
- Electric and Hybrid Vehicle Technologies
- Vehicle emissions and performance
- Stability and Controllability of Differential Equations
- Human-Automation Interaction and Safety
Politecnico di Milano
2023-2024
University of Groningen
2020-2023
KTH Royal Institute of Technology
2018-2021
Rijksmuseum
2021
Royal Military Academy
2020
University of Trento
2014-2018
We address the problem of designing a stabilizing closed-loop control law directly from input and state measurements collected in an open-loop experiment. In presence noise data, we have that set dynamics could generated data need designed controller to stabilize such data-consistent robustly. For this data-driven with noisy advocate use popular tool robust control, Petersen's lemma. cases by linear polynomial systems, conveniently express uncertainty captured through matrix ellipsoid, show...
The 2014–2016 JET results are reviewed in the light of their significance for optimising ITER research plan active and non-active operation. More than 60 h plasma operation with first wall materials successfully took place since its installation 2011. New multi-machine scaling type I-ELM divertor energy flux density to is supported by principle modelling. relevant disruption experiments modelling reported a set three mitigation valves mimicking setup. Insights L–H power threshold Deuterium...
Motivated by the goal of having a building block in direct design data-driven controllers for nonlinear systems, we show how, an unknown discrete-time bilinear system, data collected offline open-loop experiment enable us to feedback controller and provide guaranteed under-approximation its basin attraction. Both can be obtained solving linear matrix inequality fixed scalar parameter, possibly iterating on different values that parameter. The results this data-based approach are compared...
In data-driven control, a central question is how to handle noisy data. this work, we consider the problem of designing stabilizing controller for an unknown linear system using only finite set data collected from system. For problem, many recent works have considered disturbance model based on energy-type bounds. Here, alternative more natural where obeys instantaneous case, existing approaches, which would convert bounds into bounds, can be overly conservative. contrast, without any...
For an unknown linear system, starting from noisy input-state data collected during a finite-length experiment, we directly design feedback controller that guarantees robust invariance of given polyhedral set the state in presence disturbances. The main result is necessary and sufficient condition for existence such controller, amounts to solution program. benefits large rich datasets problem are discussed. We numerically illustrate method on simplified platoon two vehicles.
We consider the safe control problem of designing a robustly invariant set using only finite data collected from an unknown input-affine polynomial system in continuous time. input/state/state derivative that are noisy, i.e., corrupted by unknown-but-bounded disturbance. derive data-dependent sum-of-squares program enforces robust invariance and also optimizes size while keeping it within user-defined safety constraints; solution this program, obtained alternation decision variables,...
We propose a model for representing point mass subject to Coulomb friction in feedback with PID controller, based on differential inclusion comprising all the possible magnitudes of static during stick phase. For this we study set equilibria and establish its global asymptotic stability using discontinuous Lyapunov-like function, suitable LaSalle's invariance principle. finally use well-posedness proposed useful robustness results, including an ISS property from input perturbed context....
For a discrete-time linear system, we use data from an open-loop experiment to design directly feedback controller enforcing that given (polyhedral) set of the state is invariant and constraints on control are satisfied. By building classical results model-based invariance fundamental result Willems et al., designed has following desirable features. The satisfaction above properties guaranteed only data, it can be assessed by solving numerically-efficient program, and, under certain rank...
This paper aims at estimating the longitudinal jerk of vehicle as it is acted by a human driver, in context preventive safety. A reliable estimate needed to infer current driver intention an advanced driving assistance system developed authors. The derived intention-oriented model for dynamics embedded into enhanced Kalman filter that provides user with knob trade off between responsiveness and noise rejection. scheme fit on-line usage, relies on signals commonly available CAN bus modern...
In this article, we present a hybrid feedback approach to solve the navigation problem in <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> -dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization target position and avoidance controller, exploiting hysteresis regions, employs Zeno-free...
We present a reset control approach to achieve setpoint regulation of motion system with proportional-integral-derivative (PID)-based controller, subject Coulomb friction and velocity-weakening (Stribeck) contribution. While classical PID results in persistent oscillations (hunting), the proposed mechanism induces asymptotic stability significant overshoot reduction. Moreover, robustness an unknown static level Stribeck contribution is guaranteed. The closed-loop dynamics are formulated...
In this work we formulate the satisfaction of a (syntactically co-safe) linear temporal logic specification on physical plant through recent hybrid dynamical systems formalism. order to solve problem, introduce an extension such system framework so-called eventuality property, which matches suitably condition for specification. The property can be established barrier certificates, derive considered framework. Using certificate, propose solution original problem. Simulations illustrate...
In this work we formulate the problem of satisfying a linear temporal logic formula on plant with output feedback, through recent hybrid systems formalism. We relate to notion recurrence introduced for considered formalism, and then extend Lyapunov-like conditions an open, unbounded set. One proposed relaxed allows certifying suitable set, guarantees that high-level evolution satisfies formula, without relying discretizations plant. Simulations illustrate approach.
We consider the problem of synthesizing a dynamic output-feedback controller for linear system, using solely input-output data corrupted by measurement noise. To handle data, an auxiliary representation original system is introduced. By exploiting structure we design that robustly stabilizes all possible systems consistent with data. Notably, also provide novel solution to extend results generic multi-input multi-output systems. The findings are illustrated numerical examples.
We consider the problem of designing a state-feedback controller for linear system, based only on noisy input-state data. focus data corrupted by measurement errors, which, albeit less investigated, are as relevant process disturbances in applications. For energy and instantaneous bounds these we derive matrix inequalities design where one bound is equivalent to robust stabilization all systems consistent with points via common Lyapunov function.
For a vehicle moving in an n-dimensional Euclidean space, we present construction of hybrid feedback that guarantees both global asymptotic stabilization reference position and avoidance obstacle corresponding to bounded spherical region. The proposed control algorithm switches between two modes operation: (motion-to-goal) (boundary-following). geometric the flow jump sets controller, exploiting hysteresis region, robust switching (chattering-free) avoidance. Simulation results illustrate...
In this paper, a data-driven controller design method for multivariable systems is introduced and analyzed. The proposed technique direct, as it entirely based on experimental data does not rely physical description of the system, non-iterative, require adjustments additional experiments. Compared to state-of-theart non-iterative technique, i.e. MIMO VRFT, approach asymptotically exact, in that guarantees desired closed-loop dynamics matched when number tends infinity. performance...
In an experiment, input sequence is applied to unknown linear time-invariant system (in continuous or discrete time) affected also by unknown-but-bounded disturbance sequence; the corresponding state (and derivative sequence, in measured. The goal design directly from and sequences a controller that enforces certain performance specification on transient behaviour of system. expressed through subset complex plane where closed-loop eigenvalues need belong, so called LMI region. For this...
We address the problem of estimating online longitudinal jerk desired by a human driver piloting car. This estimation is relevant in context suitable identification intentions within modern Advanced Driver Assistance Systems (ADAS) such as co-driver scheme proposed some authors. The architecture based on suitably combining Kalman filter with scaling technique peculiar "high-gain" observers. appealing because it allows for an easy tuning trade-off between phase lag and sensitivity to noise...
Several municipalities are investigating smart road infrastructures to help reducing pollution and traffic congestion. In this paper, a vehicle assistance system is presented. The continuously suggests the optimal velocity driver should adopt in order minimize fuel consumption long urban with frequent intersection controlled by lights. Fuel saving enabled apriori knowledge of signal timing phasing. advantage algorithm that it minimally invasive as does not require complex communication...
We present a novel reset control approach to improve transient performance of PID-controlled motion system subject friction. In particular, integrator is applied circumvent the depletion and refilling process linear when overshoots setpoint, thereby significantly reducing settling times. Moreover, robustness for unknown static friction levels obtained. A hybrid closed-loop formulation derived, stability follows from discontinuous Lyapunov-like function meagre-limsup invariance argument. The...