75 citations · 194 across the 24 of their papers we have counts for
10 papers · 1 filter
Path planning with moving obstacles using stochastic optimal control
Seyyed Reza Jafari, Anders Hansson, Bo Wahlberg
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem a…
On the Search for Equilibrium Points of Switched Affine Systems
Lucas N. Egidio, Anders Hansson
One of the main aspects of switched affine systems that makes their stabilizability study intricate is the existence of (generally) infinitely many equilibrium points in the state…
Subspace Identification of Large-Scale 1D Homogeneous Networks
Chengpu Yu, Michel Verhaegen, Anders Hansson
This paper considers the identification of large-scale 1D networks consisting of identical LTI dynamical systems. A new subspace identification method is developed that only uses l…
A Scalable and Distributed Solution to the Inertial Motion Capture Problem
Manon Kok, Sina Khoshfetrat Pakazad, Thomas B. Schön +2
In inertial motion capture, a multitude of body segments are equipped with inertial sensors, consisting of 3D accelerometers and 3D gyroscopes. Using an optimization-based approach…
N2SID: Nuclear Norm Subspace Identification
Michel Verhaegen, Anders Hansson
The identification of multivariable state space models in innovation form is solved in a subspace identification framework using convex nuclear norm optimization. The convex optimi…
Distributed System Identification with ADMM
Anders Hansson, Michel Verhaegen
This paper presents identification of both network connected systems as well as distributed systems governed by PDEs in the framework of distributed optimization via the Alternatin…
Nuclear Norm Subspace Identification (N2SID) for short data batches
Michel Verhaegen, Anders Hansson
Subspace identification is revisited in the scope of nuclear norm minimization methods. It is shown that essential structural knowledge about the unknown data matrices in the data…
Speed Tracking of a Linear Induction Motor - Enumerative Nonlinear Model Predictive Control
Jean Thomas, Anders Hansson
Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has s…
Subspace System Identification via Weighted Nuclear Norm Optimization
Anders Hansson, Zhang Liu, Lieven Vandenberghe
We present a subspace system identification method based on weighted nuclear norm approximation. The weight matrices used in the nuclear norm minimization are the same weights as u…
An ADMM Algorithm for Solving l_1 Regularized MPC
Mariette Annergren, Anders Hansson, Bo Wahlberg
We present an Alternating Direction Method of Multipliers (ADMM) algorithm for solving optimization problems with an l_1 regularized least-squares cost function subject to recursiv…