• An improved algorithm for combinatorial multi-parametric quadratic programming 

      Feller, Christian; Johansen, Tor Arne; Olaru, Sorin (Journal article; Peer reviewed, 2013)
      The goal of multi-parametric quadratic programming (mpQP) is to compute analytic solutions to parameter-dependent constrained optimization problems, e.g., in the context of explicit linear MPC. We propose an improved ...
    • Combinatorial approach toward multiparametric quadratic programming based on characterizing adjacent critical regions 

      Ahmadi Moshkenani, Parisa; Johansen, Tor Arne; Olaru, Sorin (Journal article; Peer reviewed, 2018)
      Several optimization-based control design techniques can be cast in the form of parametric optimization problems. The multiparametric quadratic programming (mpQP) represents a popular class often related to the control of ...
    • Complexity reduction in motion cueing algorithm for the ULTIMATE driving simulator 

      Munir, Sarmad; Hovd, Morten; Fang, Zhou; Olaru, Sorin; Kemeny, Andras (Journal article, 2017)
      The performance of a driving simulator depends on the efficiency of the embedded motion cueing algorithm. An explicit model predictive control was established recently as a pertinent design framework for the motion cueing ...
    • Control Design and Analysis for Discrete Time Bilinear Systems using Sum of Squares Methods 

      Vatani, Mohsen; Hovd, Morten; Olaru, Sorin (Journal article; Peer reviewed, 2014)
      In this paper, stabilization of discrete time bilinear systems is investigated by using Sum of Squares (SOS) programming methods and a quadratic Lyapunov function. Starting from the fact that global asymptotic stability ...
    • Dual-mode distributed Model Predictive Control of a quadruple-tank system 

      Grancharova, Alexandra Ivanova; Johansen, Tor Arne; Olaru, Sorin (Journal article; Peer reviewed, 2018)
      In this paper, a dual-mode distributed Model Predictive Control (MPC) approach is proposed in order to reduce the on-line computational complexity of the distributed optimal control of nonlinear interconnected systems. It ...
    • Explicit robustness and fragility margins for linear discrete systems with piecewise affine control law 

      Nguyen, Ngoc Anh; Olaru, Sorin; Rodriguez-Ayerbe, Pedro; Bitsoris, George; Hovd, Morten (Journal article; Peer reviewed, 2016)
      In this paper, we focus on the robustness and fragility problem for piecewise affine (PWA) control laws for discrete-time linear system dynamics in the presence of parametric uncertainty of the state space model. A generic ...
    • Explicit robustness margin for contractive piecewise affine control laws 

      Koduri, Rajesh; Rodriguez-Ayerbe, Pedro; Olaru, Sorin; Hovd, Morten (Chapter, 2016)
      This paper deals with the class of discrete-time linear dynamics affected by polytopic uncertainty in closed loop with contractive piecewise affine (PWA) control law. Starting from the hypothesis that the synthesis ensures ...
    • Linear parameter-varying model for a refuellable zinc-air battery 

      Lao-Atiman, Woranunt; Olaru, Sorin; Diop, Sette; Skogestad, Sigurd; Arpornwichanop, Amornchai; Cheacharoen, Rongrong; Kheawhom, Soorathep (Peer reviewed; Journal article, 2020)
      Due to the increasing trend of using renewable energy, the development of an energy storage system (ESS) attracts great research interest. A zinc–air battery (ZAB) is a promising ESS due to its high capacity, low cost and ...
    • Low complexity constrained control using higher degree Lyapunov functions 

      Munir, Sarmad; Hovd, Morten; Olaru, Sorin (Journal article; Peer reviewed, 2018)
      Explicit Model Predictive Control often has a complex solution in terms of the number of regions required to define the solution and the corresponding memory requirement to represent the solution in the online implementation. ...
    • On the impact of additive disturbances on Auto-Steering Systems 

      Ballesteros-Tolosana, I.; Olaru, Sorin; Rodriguez-Ayerbe, P.; Hovd, Morten; Deborne, R.; Pita-Gil, G. (Journal article; Peer reviewed, 2017)
      Several control techniques are available for the automotive systems and their design is often based on the available measurements of different parameters and the integration of the hard input and performance constraints. ...
    • Voronoi Based Deployment for Multi-Agent Systems 

      Hatleskog, Johan (Master thesis, 2018)
      This thesis investigates convergence in the framework of Voronoi-based deployment of a multi-agent system to a convex polytopic multi-dimensional environment. The deployment objective is to drive the system into a stable ...
    • Voronoi-Based Deployment of Multi-Agent Systems 

      Hatleskog, Johan; Olaru, Sorin; Hovd, Morten (Peer reviewed; Journal article, 2019)
      This paper considers a decentralized control scheme for Voronoi-based deployment of discrete-time multiagent dynamical systems within multi-dimensional static convex polytopic environments. The deployment objective is to ...