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Learning effective state-feedback controllers through efficient multilevel importance samplers
(Taylor & Francis Ltd, 2019-12-21)
Monte Carlo sampling can be used to estimate the solution of path integral control problems, which are a restricted class of nonlinear control problems with arbitrary dynamics and state cost, but with a linear dependence ...
Tracking adaptive impedance robot control with visual feedback
(Cambridge University Press, 2000-12)
In this paper we propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control ...
Application of LMI to the design of robust controllersAplicación de las LMI al diseño de controladores robustos
(Universidad Politécnica Salesiana, 2017)
Use of piecewise linear models for optimal control of nonlinear systems
(Institute of Advanced Scientific Research, 2009-12)
The optimal feedback control of nonlinear process is attacked in this paper. The solution of this problem is numerically computed using a Continuous Piecewise Linear (CPWL) approximation of the Ordinary Differential Equations ...
Optimal State-Feedback Regulation of the Hydrogen Evolution Reactions
(Planta Piloto de Ingeniería Química, 2005-12)
A control strategy is developed in order to keep processes based on the hydrogen evolution reactions (HER) near operational steady states. The problem is treated in the context of Optimal Control for nonlinear systems ...
On "Feedback stabilization of fed-batch bioreactors: Non-monotonic growth kinetics"
(American Chemical Society, 2005-12)
This note deals with the control of the substrate concentration in fed-batch bioreactions with non-monotonic growth kinetics. More specifically, a modified version of a linearizing control strategy is proposed. Its main ...
Online suboptimal control of linearized models
(Taylor & Francis, 2014-04)
A novel approach to approximately solving the restricted-control LQR problem online is substantiated and applied in two case-studies. The first example is a one-dimensional system whose exact solution is known. The other ...