3 papers
math.OC2024
Closed-Loop Identification and Tracking Control of a Ballbot
Tobias Fischer, Dimitrios S. Karachalios, Ievgen Zhavzharov +1
Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is…
math.OC2024
Parameter Refinement of a Ballbot and Predictive Control for Reference Tracking with Linear Parameter-Varying Embedding
Dimitrios S. Karachalios, Hossam S. Abbas
In this study, we implement a control method for stabilizing a ballbot that simultaneously follows a reference. A ballbot is a robot balancing on a spherical wheel where the single…
eess.SY2023
On the Design of Nonlinear MPC and LPVMPC for Obstacle Avoidance in Autonomous Driving
Maryam Nezami, Dimitrios S. Karachalios, Georg Schildbach +1
In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a mode…