6 papers · 1 filter
On the Effect of Quadratic Regularization in Direct Data-Driven LQR
Manuel Klädtke, Feiran Zhao, Florian Dörfler +1
This paper proposes an explainability concept for direct data-driven linear quadratic regulation (LQR) with quadratic regularization. Our perspective follows the parametric effect…
Soft projections for robust data-driven control
András Sasfi, Jaap Eising, Florian Dörfler
We consider data-based predictive control based on behavioral systems theory. In the linear setting this means that a system is described as a subspace of trajectories, and predict…
On the Impact of Operating Points on Small-Signal Stability: Decentralized Stability Sets via Scaled Relative Graphs
Eder Baron-Prada, Adolfo Anta, Florian Dörfler
This paper presents a decentralized frequency-domain framework to characterize the influence of the operating point on the small-signal stability of converter-dominated power syste…
Scalable Nonlinear DeePC: Bridging Direct and Indirect Methods and Basis Reduction
Thomas O. de Jong, Mircea Lazar, Siep Weiland +1
This paper studies regularized data-enabled predictive control (DeePC) within a nonlinear framework and its relationship to subspace predictive control (SPC). The -regularizatio…
MPC for momentum counter-balanced and zero-impulse contact with a free-spinning satellite
Theofania Karampela, Rishie Seshadri, Florian Dörfler +1
In on-orbit robotics, a servicer satellite's ability to make contact with a free-spinning target satellite is essential to completing most on-orbit servicing (OOS) tasks. This manu…
Ensuring Stability of Non-Minimal Modes in Input-Output Data-Driven Representation
Joowon Lee, Nam Hoon Jo, Hyungbo Shim +2
Many recent data-driven control approaches for linear time-invariant systems are based on output trajectory prediction using input-output data matrices. The system dynamics describ…