Browsing 01.NU Schools by Author "Rubagotti, Matteo"

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Approximate Explicit MPC on Simplicial Partitions with Guaranteed Stability for Constrained Linear Systems

Rubagotti, Matteo; Barcelli, Davide; Bemporad, Alberto (IFAC Proceedings Volumes, 2012-01-01)

Abstract This paper proposes an approximate explicit model predictive control design approach for regulating linear time-invariant systems subject to both state and control constraints. The proposed control law is implemented ...
Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control

Zhakatayev, Altay; Rubagotti, Matteo; Varol, Huseyin Atakan (IEEE Access, 2015-04-10)

Variable stiffness actuation has recently attracted great interest in robotics, especially in areas involving a high degree of human robot interaction. After investigating various design approaches for variable stiffness ...
MOBY-DIC: A MATLAB Toolbox for Circuit-Oriented Design of Explicit MPC

Oliveri, Alberto; Barcelli, Davide; Bemporad, Alberto; Genuit, Bart; Heemels, Maurice; Poggi, Tomaso; Rubagotti, Matteo; Storace, Marco (IFAC Proceedings Volumes, 2012-01-01)

Abstract This paper describes a MATLAB Toolbox for the integrated design of Model Predictive Control (MPC) state-feedback control laws and the digital circuits implementing them. Explicit MPC laws can be designed using ...