5 papers
Data-Driven Dead-Zone Compensation via Projection in Predictive Control Setting
Mahmood Mazare, Hossein Ramezani
Actuator dead-zones are a common and troublesome nonlinearity in motion control: a band of commanded effort over which the plant does not respond, leaving a steady-state offset or…
Projection-Regularized Indirect Data-Driven Predictive Control
Mahmood Mazare, Hossein Ramezani
Indirect data-driven predictive control methods often suffer under process noise and data scarcity. This paper introduces Projection-Regularized Predictive Control (PRPC), retainin…
Robust Offset-free Kernelized Data-Driven Predictive Control for Nonlinear Systems
Mahmood Mazare, Hossein Ramezani
This paper proposes a novel Kernelized Data-Driven Predictive Control (KDPC) scheme for robust, offset-free tracking of nonlinear systems. Our computationally efficient hybrid appr…
Noise-Tolerant Hybrid Approach for Data-Driven Predictive Control
Mahmood Mazare, Hossein Ramezani
This paper focuses on a key challenge in hybrid data-driven predictive control: the effect of measurement noise on Hankel matrices. While noise is handled in direct and indirect me…
Adaptive Variable Impedance Control for a Modular Soft Robot Manipulator in Configuration Space
Mahmood Mazare, Silvia Tolu, Mostafa Taghizadeh
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, t…