Alina Eqtami

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This paper proposes novel event-triggered strategies for the control of uncertain nonlinear systems with additive disturbances under robust Nonlinear Model Predictive Controllers (NMPC). The main idea behind the event-driven framework is to trigger the solution of the optimal control problem of the NMPC, only when it is needed. The updates of the control(More)
Control of multiple magnetic particles inside the human body may have many potential applications, such as drug delivery in places where conventional procedures cannot reach. A natural candidate for powering as well as tracking these magnetic particles is the MRI scanner. Although it offers the means to control the particles, it also poses difficulties: the(More)
This paper presents a novel Vision-based Nonlinear Model Predictive Control (NMPC) scheme for an under-actuated underwater robotic vehicle. In this scheme, the control loop does not close periodically, but instead a self-triggering framework decides when to provide the next control update. Between two consecutive triggering instants, the control sequence(More)
This paper proposes a Model Predictive Control (MPC) framework combined with a self-triggering mechanism for constrained uncertain systems. Under the proposed scheme, the control input as well as the next control update time are provided at each triggering instant. Between two consecutive triggering instants, the control trajectory given by the MPC is(More)
This paper proposes an event-based framework for the control of a team of cooperating distributed agents. The agents are dynamically decoupled and they are controlled locally by Nonlinear Model Predictive Controllers (NMPC). The event-driven framework allows for triggering the solution of the optimal control problem of the NMPC only when it is needed. The(More)
In this paper, an enhanced event-based scheme for model predictive control (MPC) of constrained discretetime systems with additive disturbances is investigated. The re/calculation of the MPC control law is triggered whenever an event depending on the error of the measured state with respect to the nominal state of the system occurs. Between the controller(More)
In this paper, robustness analysis of constrained Image Based Visual Servoing based on Nonlinear Model Predictive Control (NMPC) is presented. It is known, that real applications such an aerial or a fast underwater robotic systems, suffer from the presence of external disturbances. These kinds of disturbances are inevitable in the physical systems, so it is(More)
In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: to reduce the updates of(More)
The concept of navigating groups of magnetically propelled particles through the fluid-filled passageways of the body provides the potential to perform highly localized diagnostic and therapeutic procedures. The use of MRI scanners to both navigate and propel millimeter-scale robots has received recent attention. MRI-based motion planning and control laws(More)