Frederik Deroo

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Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of(More)
This letter demonstrates the potential for using diffuse ultrasound measurements to detect damage in concrete. Two different solutions to the diffusion equation, an infinite three-dimensional (3D) volume model that neglects geometric boundaries and a finite 3D cuboid model, are used for the required curve fitting procedure to determine the influence of(More)
Privacy concerns spark the desire to analyze large-scale interconnected systems in a distributed fashion, that is, without a central entity having global model knowledge. Two different approaches are presented to analyze the stability of interconnected linear time-invariant systems with limited model knowledge. The two algorithms implement sufficient(More)
Distributed control of large-scale dynamical systems poses a new challenge to the field of control driven by the technological advances of modern communication networks. A particular challenge is the distributed design of such control systems. Here, a distributed iterative controller synthesis method for continuous time linear systems using a gradient(More)
Cooperative manipulation of multiple robots presents an interesting control application scenario of coupled dynamical systems with a common goal. Here, we treat the problem of moving a formation of physically interconnected robots to a desired goal while maintaining the formation. This control problen is for example relevant in cooperative transport of an(More)
An offline nonlinear model predictive control (NMPC) approach for continuous time nonlinear systems subject to input and state constraints is presented. The approach deals with nonlinear systems which can be represented by polynomial parameter-varying systems. Since the applicability of NMPC is often limited by the speed at which an optimization problem can(More)
ACKNOWLEDGEMENTS Without the help and support from a large number of people, this work would not have been possible. First of all, I would like to thank Prof. Laurence Jacobs for making this exchange possible and for being a great advisor, supporter, teacher and friend. He opened a new door to ultrasonic wave propagation I might not have entered without(More)
In this paper we analyze the propagation of input signals in a large-scale network of dynamical systems. Using vector Lyapunov functions, the individual multidimensional subsystems are first reduced to an approximating scalar representation in the form of the evolution of their weighted norm. The norm simultaneously qualifies as a local Lyapunov function(More)
In this paper we address the problem of eventbased data scheduling for a class of physically interconnected networked control systems which compete for limited communication resources. The overall interconnected system consists of multiple heterogeneous LTI sub-systems with the physical interconnection being modeled by a directed acyclic graph (DAG). The(More)