Florin Stoican

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Positive invariance is a common analysis and control design tool for systems affected by constraints and disturbances. The present paper revisits the construction of ǫ-approximations of minimal robust positive invariant sets proposing contractive procedures in the cases of switching between different sets of disturbances and the inclusion of a predefined(More)
The last decade has seen the emergence of set-theoretic methods in fault detection and identification mechanisms. These techniques are seen as restrictive and mathematically challenging due to the strict conditions (e.g. signal boundedness) imposed for reactivity to faults by means of set separation. The present paper aims at implementing such methods to a(More)
— This paper is concerned with the improved constraints handling in mixed-integer optimization problems. The novel element is the reduction of the number of binary variables used for expressing the complement of a convex (polytopic) region. As a generalization, the problem of representing the complement of a possibly non-connected union of such convex sets(More)
— This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametriza-tion. Using some important properties of these(More)