This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV), using the H∞ approach for Linear Parameter Varying (LPV) polytopic systems. This method seems to be adapted to this kind of system because of the important non-linearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model of the AUV considered for the study, an ...

The current study is motivated by the need to implement the linear based model-based fault detection and isolation (FDI) methodology onto the nonlinear aircraft system directly. The nonlinear model is expressed in the linear parameter varying (LPV) manner and the corresponding LPV FDI estimator can be developed through the combination of the polytopic FDI estimators developed on each system ver...

Abstract Model Predictive Control (MPC) for {networked, cyber-physical, multi-agent} systems requires numerical methods to solve optimal control problems while meeting communication and real-time requirements. This paper presents an introduction on six distributed optimization algorithms compares their properties in the context of MPC linear with convex quadratic objectives polytopic constraint...

A learning-based safety filter is developed for discrete-time linear time-invariant systems with unknown models subject to Gaussian noises covariance. Safety characterized using polytopic constraints on the states and control inputs. The empirically learned model process noise covariance their confidence bounds are used construct a robust optimization problem minimally modifying nominal actions...

Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex non-convex optimization problem positive distance constraints between robots, which limits real-time performance and scalability. Additionally, generating collision-free behavior polytopic-shaped robots harder due to implicit non-differentiab...