40 citations · 137 across the 29 of their papers we have counts for
49 papers
A Neuromorphic Architecture for Scalable Event-Based Control
Yongkang Huo, Fulvio Forni, Rodolphe Sepulchre
This paper introduces the ``rebound Winner-Take-All (RWTA)" motif as the basic element of a scalable neuromorphic control architecture. From the cellular level to the system level,…
Gradient modelling of memristive systems
Fulvio Forni, Rodolphe Sepulchre
We introduce a gradient modeling framework for memristive systems. Our focus is on memristive systems as they appear in neurophysiology and neuromorphic systems. Revisiting the ori…
A homotopy theorem for incremental stability
Thomas Chaffey, Andrey Kharitenko, Fulvio Forni +1
A theorem is proved to verify incremental stability of a feedback system via a homotopy from a known incrementally stable system. A first corollary of that result is that increment…
Amplitude response and square wave describing functions
Thomas Chaffey, Fulvio Forni
An analog of the describing function method is developed using square waves rather than sinusoids. Static nonlinearities map square waves to square waves, and their behavior is cha…
Neuromorphic Control of a Pendulum
Raphael Schmetterling, Fulvio Forni, Alessio Franci +1
We illustrate the potential of neuromorphic control on the simple mechanical model of a pendulum, with both event-based actuation and sensing. The controller and the pendulum are r…
Passive iFIR Filters for Data-Driven Control
Zixing Wang, Yongkang Huo, Fulvio Forni
We consider the design of a new class of passive iFIR controllers given by the parallel action of an integrator and a finite impulse response filter. iFIRs are more expressive than…
A Passivity Preserving H-infinity Synthesis Technique for Robot Control
Daniel Larby, Fulvio Forni
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there i…
A Generalized Approach to Impedance Control Design for Robotic Minimally Invasive Surgery
Daniel Larby, Fulvio Forni
Energy based control methods are at the core of modern robotic control algorithms. In this paper we present a general approach to virtual model/mechanism control, which is a powerf…
Lettuce modelling for growth control in precision agriculture
William Rohde, Fulvio Forni
Improving the efficiency of agriculture is a growing priority due to food security issues, environmental concerns, and economics. Precision agriculture and variable rate applicatio…
Loop Shaping with Scaled Relative Graphs
Thomas Chaffey, Fulvio Forni, Rodolphe Sepulchre
The Scaled Relative Graph (SRG) is a generalization of the Nyquist diagram that may be plotted for nonlinear operators, and allows nonlinear robustness margins to be defined graphi…
On the incremental form of dissipativity
Rodolphe Sepulchre, Thomas Chaffey, Fulvio Forni
Following the seminal work of Zames, the input-output theory of the 70s acknowledged that incremental properties (e.g. incremental gain) are the relevant quantities to study in non…
Polyhedral Estimation of L-1 and L-infinity Incremental Gains of Nonlinear Systems
Dimitris Kousoulidis, Fulvio Forni
We provide novel dissipativity conditions for bounding the incremental L-1 gain of systems. Moreover, we adapt existing results on the L-infinity gain to the incremental setting an…
-monotonicity and feedback synthesis for incrementally stable networks
Yu Kawano, Fulvio Forni
We discuss the role of monotonicity in enabling numerically tractable modular control design for networked nonlinear systems. We first show that the variational systems of monotone…
Analog cross coupled controller for oscillations: modeling and design via dominant system theory
Weiming Che, Thomas Chaffey, Fulvio Forni
We propose a new analog feedback controller based on the classical cross coupled electronic oscillator. The goal is to drive a linear passive plant into oscillations. We model the…
Dominant Mixed Feedback Design for Stable Oscillations
Weiming Che, Fulvio Forni
We present a design framework to induce stable oscillations through mixed feedback control. We provide conditions on the feedback gain and on the balance between positive and negat…
Graphical Nonlinear System Analysis
Thomas Chaffey, Fulvio Forni, Rodolphe Sepulchre
We use the recently introduced concept of a Scaled Relative Graph (SRG) to develop a graphical analysis of input-output properties of feedback systems. The SRG of a nonlinear opera…
Global and local synaptic regulation determine the stability of homeostatic plasticity
Saeed Aljaberi, Adriano Bellotti, Timothy O'Leary +1
Neurons regulate the distribution of signaling components across an extended tree-like cellular structure using both local and global feedback control. This is hypothesized to allo…
Polyhedral Lyapunov Functions with Fixed Complexity
Dimitris Kousoulidis, Fulvio Forni
Polyhedral Lyapunov functions can approximate any norm arbitrarily well. Because of this, they are used to study the stability of linear time varying and linear parameter varying s…
Scaled relative graphs for system analysis
Thomas Chaffey, Fulvio Forni, Rodolphe Sepulchre
Scaled relative graphs were recently introduced to analyze the convergence of optimization algorithms using two dimensional Euclidean geometry. In this paper, we connect scaled rel…
Shaping oscillations via mixed feedback
W. Che, F. Forni
We study the problem of controlling oscillations in closed loop by combining positive and negative feedback in a mixed configuration. We develop a complete design procedure to set…
Dendritic trafficking: synaptic scaling and structural plasticity
Saeed Aljaberi, Timothy O'Leary, Fulvio Forni
Neuronal circuits internally regulate electrical signaling via a host of homeostatic mechanisms. Two prominent mechanisms, synaptic scaling and structural plasticity, are believed…
A tunable mixed feedback oscillator
Weiming Che, Fulvio Forni
The interplay of positive and negative feedback loops on different time scales appears to be a fundamental mechanisms for robust and tunable oscillations in both biological systems…
Model reduction by balanced truncation of dominant Lure systems
Alberto Padoan, Fulvio Forni, Rodolphe Sepulchre
The paper presents a model reduction framework geared towards the analysis and design of systems that switch and oscillate. While such phenomena are ubiquitous in nature and engine…
Scalable Control Design for K-positive Linear Systems
Yu Kawano, Fulvio Forni
Systems whose variable are constrained to be positive allow computationally efficient control design. We generalize these results to linear systems which leave a cone invariant. Th…