3 papers
eess.SY2021
A Simple Robust MPC for Linear Systems with Parametric and Additive Uncertainty
Monimoy Bujarbaruah, Ugo Rosolia, Yvonne R. Stürz +1
We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is mod…
cs.RO2021
Learning Environment Constraints in Collaborative Robotics: A Decentralized Leader-Follower Approach
Monimoy Bujarbaruah, Yvonne R. Stürz, Conrad Holda +2
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots…
eess.SY2020
Extended Full Block S-Procedure for Distributed Control of Interconnected Systems
Giulia De Pasquale, Yvonne R. Sturz, Maria Elena Valcher +1
This paper proposes a novel method for distributed controller synthesis of homogeneous interconnected systems consisting of identical subsystems. The objective of the designed cont…