Component-wise Supervisory Controller Synthesis in a Client/Server Architecture
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.06.329
Abstract: Abstract The manual design of monolithic controllers for flexible manufacturing systems is no longer feasible due to the sheer size of the problem. A well-known approach to tackle this scalability problem is to create a… read more here.
Keywords: controller synthesis; controller; approach; supervisory controller ... See more keywords
H∞ controller synthesis for AGV trajectory tracking using a linearized kinematic model
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DOI: 10.1016/j.ifacol.2019.11.650
Abstract: Abstract This paper proposes a design procedure for H∞ optimal linear feedback controllers for trajectory tracking of an automated guided vehicle (AGV) based on a linearized kinematic model. The design specifications are expressed as a… read more here.
Keywords: linearized kinematic; kinematic model; controller synthesis; trajectory tracking ... See more keywords
Lazy Safety Controller Synthesis with Multi-Scale Adaptive-Sampling Abstractions of Nonlinear Systems
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DOI: 10.1016/j.ifacol.2020.12.2348
Abstract: In this paper, we present an abstraction-based approach to safety controller synthesis for continuous-time nonlinear systems. To reduce the computational burden associated with symbolic control approaches, we develop a lazy controller synthesis algorithm, which uses… read more here.
Keywords: multi scale; controller; controller synthesis; nonlinear systems ... See more keywords
Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance
Sign Up to like & getrecommendations! Published in 2020 at "Scientific Reports"
DOI: 10.1038/s41598-020-66760-w
Abstract: Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs. Multiple wearable robots using this actuation principle have been proposed, but none has yet been… read more here.
Keywords: synthesis clinical; gyroscopic actuators; balance; controller synthesis ... See more keywords
A structure exploiting SDP solver for robust controller synthesis
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2023.3277314
Abstract: In this paper, we revisit structure exploiting SDP solvers dedicated to the solution of Kalman-Yakubovic-Popov semi-definite programs (KYP-SDPs). These SDPs inherit their name from the KYP Lemma and they play a crucial role in e.g.… read more here.
Keywords: exploiting sdp; controller synthesis; synthesis; structure exploiting ... See more keywords
Convex Distributed Controller Synthesis for Interconnected Heterogeneous Subsystems Via Virtual Normal Interconnection Matrices
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2016.2645178
Abstract: Based on a previously introduced framework for distributed controller synthesis, in this note a novel transformation of interconnection matrices is proposed that enables to consider arbitrary, time-varying and directed interaction topologies. It represents any interconnection… read more here.
Keywords: interconnection; interconnection matrices; distributed controller; controller synthesis ... See more keywords
A Nonsmooth Approach to Controller Synthesis for Boolean Specifications
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2020.3035467
Abstract: Robotic systems have been proposed as a solution to a wide array of problems, from autonomous warehousing to precision agriculture. Yet these systems typically require satisfaction of multiple constraints, such as collision avoidance and connectivity… read more here.
Keywords: article; controller synthesis; controller; barrier functions ... See more keywords
Partial-Order Reduction for Supervisory Controller Synthesis
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2021.3129161
Abstract: A key challenge in the synthesis and subsequent analysis of supervisory controllers is the impact of state-space explosion caused by concurrency. The main bottleneck is often the memory needed to store the composition of plant… read more here.
Keywords: controller synthesis; synthesis; controller; supervisory controller ... See more keywords
Fuzzy-Based Controller Synthesis and Optimization for Underactuated Mechanical Systems With Nonholonomic Servo Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Fuzzy Systems"
DOI: 10.1109/tfuzz.2022.3143003
Abstract: This article investigates the trajectory tracking problem of underactuated mechanical systems (UMSs) with companion nonholonomic servo constraints and uncertainties. For such motion tasks, the existing approaches in the literature attempt unrealistically to furnish a reliable… read more here.
Keywords: mechanical systems; servo constraints; underactuated mechanical; controller synthesis ... See more keywords