8 citations · 11 across the 20 of their papers we have counts for
20 papers
On ANN-enhanced positive invariance for nonlinear flat systems
Huu-Thinh Do, Ionela Prodan
The concept of positively invariant (PI) sets has proven effective in the formal verification of stability and safety properties for autonomous systems. However, the characterizati…
On maximal positive invariant set computation for rank-deficient linear systems
Bogdan Gheorghe, Daniel Ioan, Cristian Flutur +2
The maximal positively invariant (MPI) set is obtained through a backward reachability procedure involving the iterative computation and intersection of predecessor sets under stat…
Safe Navigation in Cluttered Environments Via Spline-Based Harmonic Potential Fields
Theodor-Gabriel Nicu, Florin Stoican, Daniel-Mihail Ioan +1
We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible…
Tight displacement-based formation control under bounded disturbances. A set-theoretic perspective
Vlad-Matei Angheluţă, Bogdan Gheorghe, Daniel Ioan +2
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties origin…
An ANN-Enhanced Approach for Flatness-Based Constrained Control of Nonlinear Systems
Huu-Thinh Do, Ionela Prodan, Florin Stoican
Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks t…
Reducing real-time complexity via sub-control Lyapunov functions: from theory to experiments
Huu-Thinh Do, Franco Blanchini, Stefano Miani +1
The techniques to design control Lyapunov functions (CLF), along with a proper stabilizing feedback, possibly in the presence of constraints, often provide control laws that are to…
On the constrained feedback linearization control based on the MILP representation of a ReLU-ANN
Huu-Thinh Do, Ionela Prodan
In this work, we explore the efficacy of rectified linear unit artificial neural networks in addressing the intricate challenges of convoluted constraints arising from feedback lin…
ANN-Based Adaptive NMPC for Uranium Extraction-Scrubbing Operation in Spent Nuclear Fuel Treatment Process
Duc-Tri Vo, Ionela Prodan, Laurent Lefèvre +3
This paper addresses the particularities in optimal control of the uranium extraction-scrubbing operation in the PUREX process. The control problem requires optimally stabilizing t…
A Stabilizing NMPC Strategy for a Class of Nonholonomic Systems with Drift
Huu Thien Nguyen, Fernando A. C. C. Fontes, Ionela Prodan
In this paper, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterall…
PSO-Based Adaptive NMPC for Uranium Extraction-Scrubbing Operation in Spent Nuclear Fuel Treatment Process
Duc-Tri Vo, Ionela Prodan, Laurent Lefèvre +3
This paper addresses the particularities of adaptive optimal control of the uranium extraction-scrubbing operation in the PUREX process. The process dynamics are nonlinear, high di…
Nonlinear Model Predictive Control for Uranium Extraction-Scrubbing Operation in Spent Nuclear Fuel Treatment Process
Duc-Tri Vo, Ionela Prodan, Laurent Lefèvre +3
This paper addresses the particularities of the uranium extraction-scrubbing operation in a spent nuclear fuel treatment process (PUREX-Plutonium Uranium Refining by Extraction) th…
Experimental validation of an explicit flatness-based MPC design for quadcopter position tracking
Huu-Thinh Do, Ionela Prodan
Due to the nonlinearities and operational constraints typical to quadcopter missions, Model Predictive Control (MPC) encounters the major challenge of high computational power nece…
Passivity-based economic ports for optimal operation of networked DC microgrids
Pol Jané-Soneira, Albertus J. Malan, Ionela Prodan +1
In this paper, we introduce the novel concept of economic ports, allowing modular and distributed optimal operation of networked microgrids. Firstly, we design a novel price-based…
Enhancements on a saturated control for stabilizing a quadcopter: adaptive and robustness analysis in the flat output space
Huu-Thinh Do, Franco Blanchini, Ionela Prodan
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representatio…
On MPC-based Strategies for Optimal Voltage References in DC Microgrids
Pol Jané-Soneira, Ionela Prodan, Albertus Johannes Malan +1
Modern power systems are characterized by low inertia and fast voltage dynamics due to the increase of sources connecting via power electronics and the removal of large traditional…
Indoor experimental validation of MPC-based trajectory tracking for a quadcopter via a flat mapping approach
Huu-Thinh Do, Ionela Prodan
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control syn…
A flatness-based saturated controller design for a quadcopter with experimental validation
Huu-Thinh Do, Franco Blanchini, Ionela Prodan
Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an i…
Trajectory Optimization and NMPC Tracking for a Fixed Wing UAV in Deep Stall with Perch Landing
Huu Thien Nguyen, Ionela Prodan, Fernando A. C. C. Fontes
This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing t…
Flatness-based nonlinear control strategies for trajectory tracking of quadcopter systems
Thinh Nguyen, Ionela Prodan, Laurent Lefèvre
This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold.…
Obstacle avoidance via B-spline parameterizations of flat trajectories
Florin Stoican, Vlad-Mihai Ivanusca, Ionela Prodan
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed…