55 citations · 236 across the 20 of their papers we have counts for
21 papers
On modal observers for beyond rigid body control in high-precision mechatronics
Yorick Broens, Hans Butler, Roland Tóth
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from p…
Backflipping with Miniature Quadcopters by Gaussian Process Based Control and Planning
Péter Antal, Tamás Péni, Roland Tóth
The paper proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the opt…
Koopman Form of Nonlinear Systems with Inputs
Lucian Cristian Iacob, Roland Tóth, Maarten Schoukens
The Koopman framework proposes a linear representation of finite-dimensional nonlinear systems through a generally infinite-dimensional globally linear embedding. Originally, the K…
Optimal Synthesis of LTI Koopman Models for Nonlinear Systems with Inputs
Lucian Cristian Iacob, Roland Tóth, Maarten Schoukens
A popular technique used to obtain linear representations of nonlinear systems is the so-called Koopman approach, where the nonlinear dynamics are lifted to a (possibly infinite di…
LPV Modeling of the Atmospheric Flight Dynamics of a Generic Parafoil Return Vehicle
Matthis H. de Lange, Chris Verhoek, Valentin Preda +1
Obtaining models that can be used for control is of utmost importance to ensure the guidance and navigation of spacecraft, like a Generic Parafoil Return Vehicle (GPRV). In this pa…
LPV sequential loop closing for high-precision motion systems
Yorick Broens, Hans Butler, Roland Tóth
Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while s…
On discretization of continuous-time LPV control solutions
Yorick Broens, Hans Butler, Roland Tóth
In recent years, the Linear Parameter-Varying (LPV) framework has become increasingly useful for analysis and control of time-varying systems. Generally, LPV control synthesis is p…
Learning Based Model Predictive Control for Quadcopters with Dual Gaussian Process
Yuhan Liu, Roland Tóth
An important issue in quadcopter control is that an accurate dynamic model of the system is nonlinear, complex, and costly to obtain. This limits achievable control performance in…
Deep Identification of Nonlinear Systems in Koopman Form
Lucian Cristian Iacob, Gerben Izaak Beintema, Maarten Schoukens +1
The present paper treats the identification of nonlinear dynamical systems using Koopman-based deep state-space encoders. Through this method, the usual drawback of needing to choo…
Incremental Dissipativity based Control of Discrete-Time Nonlinear Systems via the LPV Framework
Patrick J. W. Koelewijn, Roland Tóth, Siep Weiland
Unlike for Linear Time-Invariant (LTI) systems, for nonlinear systems, there exists no general framework for systematic convex controller design which incorporates performance shap…
Frequency Response Data Based LPV Controller Synthesis Applied to a Control Moment Gyroscope
Tom Bloemers, Roland Tóth, Tom Oomen
Control of systems with operating condition-dependent dynamics, including control moment gyroscopes, often requires operating condition-dependent controllers to achieve high contro…
Frequency-Domain Data-Driven Controller Synthesis for Unstable LPV Systems
Tom Bloemers, Roland Tóth, Tom Oomen
Synthesizing controllers directly from frequency-domain measurement data is a powerful tool in the linear time-invariant framework. Ever-increasing performance requirements necessi…
On the Use of the Smith-McMillan Form in Decoupling System Dynamics
Clarisse Pétua Bosman Barros, Hans Butler, Roland Tóth
In this paper, the use of the Smith-McMillan form in decoupling multiple-input multiple-output system dynamics is analyzed. In short, from a transfer matrix plant model one can obt…
Learning-based feedforward augmentation for steady state rejection of residual dynamics on a nanometer-accurate planar actuator system
Ioannis Proimadis, Yorick Broens, Roland Tóth +1
Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatron…
Nonlinear parameter-varying state-feedback design for a gyroscope using virtual control contraction metrics
Ruigang Wang, Patrick J. W. Koelwijn, Ian R. Manchester +1
In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gy…
Nonlinear Tracking and Rejection using Linear Parameter-Varying Control
Patrick J. W. Koelewijn, Roland Tóth, Henk Nijmeijer +1
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlin…
Fundamental Lemma for Data-Driven Analysis of Linear Parameter-Varying Systems
Chris Verhoek, Roland Tóth, Sofie Haesaert +1
Based on the Fundamental Lemma by Willems et al., the entire behaviour of a Linear Time-Invariant (LTI) system can be characterised by a single data sequence of the system as long…
Data-Driven Predictive Control for Linear Parameter-Varying Systems
Chris Verhoek, Hossam S. Abbas, Roland Tóth +1
Based on the extension of the behavioral theory and the Fundamental Lemma for Linear Parameter-Varying (LPV) systems, this paper introduces a Data-driven Predictive Control (DPC) s…
Incremental Stability and Performance Analysis of Discrete-Time Nonlinear Systems using the LPV Framework
Patrick J. W. Koelewijn, Roland Tóth
The dissipativity framework is widely used to analyze stability and performance of nonlinear systems. By embedding nonlinear systems in an LPV representation, the convex tools of t…
Virtual Control Contraction Metrics: Convex Nonlinear Feedback Design via Behavioral Embedding
Ruigang Wang, Roland Tóth, Patrick J. W. Koelwijn +1
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and -gain…
SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation
Zechen Liu, Zizhang Wu, Roland Tóth
Estimating 3D orientation and translation of objects is essential for infrastructure-less autonomous navigation and driving. In case of monocular vision, successful methods have be…