Ruben Van Parys
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View article: Design of robust decentralised controllers for MIMO plants with delays through network structure exploitation
Design of robust decentralised controllers for MIMO plants with delays through network structure exploitation Open
© 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group. A methodology is proposed for the design of robust controllers for retarded and neutral-type time-delay systems, focusing on decentralised and overlapping fixed-order co…
View article: Embedded nonlinear model predictive control for obstacle avoidance using PANOC
Embedded nonlinear model predictive control for obstacle avoidance using PANOC Open
We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic,…
View article: Low-cost Carry-home Mobile Platforms for Project-based Evaluation of Control Theory
Low-cost Carry-home Mobile Platforms for Project-based Evaluation of Control Theory Open
This paper presents mobile platforms that were recently designed in support of an introductory control course. Through dedicated assignments, the students are guided to implement and validate all parts of the course on a setup, ranging fro…
View article: Spline-Based Motion Planning in an Obstructed 3D Environment
Spline-Based Motion Planning in an Obstructed 3D Environment Open
This paper presents a motion planning approach that steers systems in an optimal way through an obstructed 3D environment. The motion trajectories are parameterized as polynomial splines and by exploiting the properties of B-spline basis f…
View article: Distributed MPC for a formation of mobile platforms: an experimental validation
Distributed MPC for a formation of mobile platforms: an experimental validation Open
View article: Online distributed motion planning for multi-vehicle systems using receding-horizon ADMM
Online distributed motion planning for multi-vehicle systems using receding-horizon ADMM Open
View article: Analysis and Synthesis of Interconnected Systems: Application to Tuned Vibration Absorber Design for a Flexible Beam
Analysis and Synthesis of Interconnected Systems: Application to Tuned Vibration Absorber Design for a Flexible Beam Open
Since the last decade, substantial research has been devoted\nto the analysis and synthesis of interconnected systems by\naddressing techniques from robust systems theory. An im-\nportant result is the convex reformulation of the distribut…