Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Niels van Duijkeren"'
Autor:
Moritz Reuss, Niels van Duijkeren, Robert Krug, Philipp Becker, Vaisakh Shaj, Gerhard Neumann
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects that remai
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ec96c8ca539a3db9f4099a3ec491a220
https://publikationen.bibliothek.kit.edu/1000147885
https://publikationen.bibliothek.kit.edu/1000147885
Differential drive mobile robots often use one or more caster wheels for balance. Caster wheels are appreciated for their ability to turn in any direction almost on the spot, allowing the robot to do the same and thereby greatly simplifying the motio
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2520a69caade7b5589a15cb3765fef10
Autor:
Alessandro Beghi, Niels van Duijkeren, Yutao Chen, Mattia Bruschetta, Moritz Diehl, Gianluca Frison
Publikováno v:
IFAC-PapersOnLine. 51:406-411
In Nonlinear Model Predictive Control(NMPC), an optimal control problem (OCP) is solved repeatedly at every sampling instant. To satisfy the real-time restriction, modern methods tend to convert the OCP into structured Nonlinear Programming problems
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e97dc63cb1ba5da697208c3ce4677fb4
https://doi.org/10.1016/j.ifacol.2018.11.067
https://doi.org/10.1016/j.ifacol.2018.11.067
Publikováno v:
IFAC-PapersOnLine. 50:8680-8685
In nonlinear model predictive control (NMPC), a control task is approached by repeatedly solving an optimal control problem (OCP) over a receding horizon. Popularly, the OCP is approximated with a finite-dimensional nonlinear program (NLP). Since com
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c82f31f073c2a0d024a73f4e08bff04f
https://doi.org/10.1016/j.ifacol.2017.08.1528
https://doi.org/10.1016/j.ifacol.2017.08.1528
Autor:
Armin Steinhauser, Maarten Verbandt, Jan Swevers, Goele Pipeleers, Laurens Jacobs, Ruben Van Parys, Niels van Duijkeren
Publikováno v:
IFAC-PapersOnLine. 50:9138-9143
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 from basic tim
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0449d40d72d6f9df00dc0b148b13fef0
https://doi.org/10.1016/j.ifacol.2017.08.1718
https://doi.org/10.1016/j.ifacol.2017.08.1718
Autor:
Gianluca Frison, Jonathan Frey, Rien Quirynen, Robin Verschueren, Andrea Zanelli, Branimir Novoselnik, Thivaharan Albin, Niels van Duijkeren, Moritz Diehl, Dimitris Kouzoupis
Publikováno v:
Mathematical Programming Computation, 14 (1)
This paper presents the acados software package, a collection of solvers for fast embedded optimization intended for fast embedded applications. Its interfaces to higher-level languages make it useful for quickly designing an optimization-based contr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0eed2d8c7c3b6357cba4f8c82f889295
http://arxiv.org/abs/1910.13753
http://arxiv.org/abs/1910.13753
This paper presents a dual-objective nonlinear model predictive control (NMPC) algorithm for stabilizing a target neighborhood of a state-space manifold of a nonlinear dynamical system and for concurrently optimizing an economic objective in this nei
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::aed3c0d972c11185b5af2516c43d1abf
https://lirias.kuleuven.be/handle/123456789/630614
https://lirias.kuleuven.be/handle/123456789/630614
Autor:
Rien Quirynen, Andrea Zanelli, Niels van Duijkeren, Robin Verschueren, Dimitris Kouzoupis, Gianluca Frison, Moritz Diehl
Publikováno v:
IFAC-Papers
In this paper we present acados, a new software package for model predictive control. It provides a collection of embedded optimization algorithms written in C, with a strong focus on computational efficiency. Its modular structure makes it useful fo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8321e816fd8ac06908e20abc09464fa5
Publikováno v:
CDC
© 2017 IEEE. This paper presents a predictive control approach for stabilizing a target manifold in the state space of a nonlinear system while optimizing economic performance on/near this manifold. The control design is based on a transverse normal
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f81a1577bf644e26cd729727836d4771
https://doi.org/10.1109/cdc.2017.8264023
https://doi.org/10.1109/cdc.2017.8264023
Publikováno v:
IFAC-PapersOnLine. 48:39-46
This work presents a Nonlinear Model Predictive Control (NMPC) approach to realtime trajectory generation for highway driving with long truck combinations. In order to consider all relevant information for the road and the surrounding traffic, we for
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b6c0ca9dc56c6c90313072ec2c2d1c9d
https://doi.org/10.1016/j.ifacol.2015.11.260
https://doi.org/10.1016/j.ifacol.2015.11.260