In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...

We analyze a time-coarsening strategy for model predictive control (MPC) that we call diffusing-horizon MPC. This seeks to overcome the computational challenges associated with optimal problems span multiple timescales. The coarsening approach uses time discretization grid becomes exponentially more sparse as one moves forward in time. design is motivated by recently established property of kno...

This paper proposes a unidirectional finite control set-predictive toque (UFCS-PTC) method for three-level neutral-point-clamped (3L-NPC) inverter fed interior permanent magnet synchronous motor (IPMSM). The proposed algorithm can lower the complexity of PTC by 3L-NPC reducing number admissible voltage vectors (VVs) effectively. candidate VVs are restricted within 60° space diagram (VSVD), whic...

In this paper, we develop a finite horizon model predictive control algorithm which is robust to modelling uncertainties. A moving average system matrix is constructed to capture modelling uncertainties and facilitate the future output prediction. The paper is mainly focused on the step tracking problem. Using linear matrix inequality techniques, the design is converted into a semi-definite opt...