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A model predictive approach to the control of a GDI engine is presented. Fuzzy Takagi-Sugeno type models are used to predict the future engine behaviour. The optimization algorithm is based on instantaneous linearization of the nonlinear prediction model at the current operating point. Special mode switching strategies are designed to minimize the torque bumps during combustion mode changes. The performance...
Switching gaits in many-legged robots can present challenges due to the combinatorial nature of the gait space. In this paper we present an intrinsically safe gait switching generator that minimizes the velocity variance of all the legs in stance, allowing for smooth acceleration in legged robots. The gait switching generator is modeled as a max-plus linear discrete event system which is translated...
We present a new class of gait generation and control algorithms based on the switching max-plus modeling framework that allows for the synchronization of multiple legs of walking robots. Transitions between stance and swing phases of each leg are modeled as discrete events on a system described by max-plus-linear state equations. Different gaits and gait parameters can be interleaved by using different...
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