3 papers
eess.SY2024
Set-Theoretic Direct Data-driven Predictive Control
Mohammad Bajelani, Walter Lucia, Klaske van Heusden
Designing the terminal ingredients of direct data-driven predictive control presents challenges due to its reliance on an implicit, non-minimal input-output data-driven representat…
math.OC2024
A Constrained Tracking Controller for Ramp and Sinusoidal Reference Signals using Robust Positive Invariance
Geovana Franca dos Santos, Eugenio B. Castelan, Walter Lucia
This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and…
cs.RO2024
Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach
Suryaprakash Rajkumar, Cristian Tiriolo, Walter Lucia
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach…