Mirko Fiacchini

Learn More
This paper presents a novel formulation of a robust model predictive controller (RMPCT) to track piecewise constant references. The real plant is assumed to be modelled as a linear system with additive bounded uncertainties on the states. Under mild assumptions, the proposed MPC can steer the uncertain system in an admissible evolution to any admissible(More)
In this paper, the stabilizability of discrete-time linear switched systems is considered. Several sufficient conditions for stabilizability are proposed in the literature, but not a necessary and sufficient one. The main contribution is a computation-oriented necessary and sufficient condition for stabilizability based on set-theory. Based on such a(More)
This paper introduces a method for approximate reachability, for linear discrete time systems, based on homothety and set invariance. The proposed method utilizes two particular families of sets, more precisely their members, and particular forms of the approximation maps to obtain simple inner and outer approximate reachable sets/tubes. The resulting(More)
A complete benchmark designed for testing performances in terms of consumption of an electric vehicle is described. The vehicle under consideration is a prototype involved in the European Shell Eco-marathon race. A model is first obtained. Then, a low consumption driving strategy is derived. The tracking performances are tested on the electric Vir'Volt(More)
This paper presents the synthesis of a control law which guarantees asymptotic stability for a wheeled mobile robot under slip conditions subject to both constraints and system dynamics. This control law is obtained using Linear Matrix Inequalities. The improvements provided by the proposed adaptive control are compared with other control laws, dealing with(More)
This paper focuses on the design of a tube-based Model Predictive Control law for the control of constrained mobile robots in off-road conditions with longitudinal slip while ensuring robustness and stability. A time-varying trajectory tracking error model is used, where uncertainties are assumed to be bounded and additive. The robust tube-based MPC is(More)
This paper offers a method for the computation of invariant approximations of the maximal invariant set for constrained linear discrete time systems subject to bounded, additive, disturbances. The main advantage of the method is that it generates invariant sets at any step of the underlying set iteration. Conditions under which the sequence of generated(More)