Imperial College London

ProfessorAlessandroAstolfi

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Non-Linear Control Theory
 
 
 
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Contact

 

+44 (0)20 7594 6289a.astolfi Website

 
 
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Assistant

 

Miss Michelle Hammond +44 (0)20 7594 6281

 
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Location

 

1110AElectrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Publication Type
Year
to

473 results found

Franco PD, Scarciotti G, Astolfi A, 2017, A note on the stability of nonlinear differential-algebraic systems, Pages: 7421-7426

© 2017 The problem of the stability analysis for nonlinear differential-algebraic systems is addressed using tools from classical control theory Exploiting Lyapunov Direct Method we provide linear matrix inequalities to establish stability properties of this class of systems. In addition, interpreting the differential-algebraic system as the feedback interconnection of a dynamical system and an algebraic system, a sufficient stability condition has been derived using the small-gain theorem. The proposed techniques are illustrated by means of simple examples.

CONFERENCE PAPER

Jiang J, Astolfi A, 2017, Shared-Control for a Rear-Wheel Drive Car: Dynamic Environments and Disturbance Rejection, IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, Vol: 47, Pages: 723-734, ISSN: 2168-2291

JOURNAL ARTICLE

Jiang J, Evangelou SA, Torquil MR, Astolfi Aet al., 2017, Robust H<inf>∞</inf>Control for Autonomous Scooters, IFAC-PapersOnLine, Vol: 50, Pages: 297-302

© 2017 This paper studies the trajectory tracking problem for the nonlinear model of a scooter and presents a robust H ∞ controller based on measurements of the tracking errors, the roll angle, the yaw angle and the steering angle. The study first introduces the full nonlinear model developed in Autosim which has 12 degrees of freedom. This is far more complex than a simple bicycle model and provides a good description of the scooter. Then a robust H ∞ controller based on the linearization of the nonlinear model is designed. Finally, the effectiveness of the controller is verified by means of two case studies.

JOURNAL ARTICLE

Jiang J, Evangelou SA, Torquil MR, Astolfi Aet al., 2017, Robust H-infinity Control for Autonomous, 20th IFAC World Congress, Publisher: Elsevier, Pages: 297-302, ISSN: 1474-6670

This paper studies the trajectory tracking problem for the nonlinear model of a scooter and presents a robust H∞ controller based on measurements of the tracking errors, the roll angle, the yaw angle and the steering angle. The study first introduces the full nonlinear model developed in Autosim which has 12 degrees of freedom. This is far more complex than a simple bicycle model and provides a good description of the scooter. Then a robust H∞ controller based on the linearization of the nonlinear model is designed. Finally, the effectiveness of the controller is verified by means of two case studies.

CONFERENCE PAPER

Mylvaganam T, Sassano M, Astolfi A, 2017, A Differential Game Approach to Multi-agent Collision Avoidance, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 62, Pages: 4229-4235, ISSN: 0018-9286

JOURNAL ARTICLE

Padoan A, Scarciotti G, Astolfi A, 2017, A Geometric Characterization of the Persistence of Excitation Condition for the Solutions of Autonomous Systems, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 62, Pages: 5666-5677, ISSN: 0018-9286

JOURNAL ARTICLE

Scarciotti G, Astolfi A, 2017, Data-driven model reduction by moment matching for linear and nonlinear systems, AUTOMATICA, Vol: 79, Pages: 340-351, ISSN: 0005-1098

JOURNAL ARTICLE

Scarciotti G, Astolfi A, 2017, A review on model reduction by moment matching for nonlinear systems, Lecture Notes in Control and Information Sciences, Pages: 29-52

© 2017, Springer International Publishing AG. The model reduction problem for nonlinear systems and nonlinear time-delay systems based on the steady-state notion of moment is reviewed. We show how this nonlinear description of moment is used to pose and solve the model reduction problem by moment matching for nonlinear systems, to develop a notion of frequency response for nonlinear systems, and to solve model reduction problems in the presence of constraints on the reduced order model. Model reduction of nonlinear time-delay systems is then discussed. Finally, the problem of approximating the moment of nonlinear, possibly time-delay, systems from input/output data is briefly illustrated.

BOOK CHAPTER

Scarciotti G, Astolfi A, 2017, Nonlinear Model Reduction by Moment Matching, FOUNDATIONS AND TRENDS IN SYSTEMS AND CONTROL, Vol: 4, Pages: I-+, ISSN: 2325-6818

JOURNAL ARTICLE

Scarciotti G, Teel AR, Astolfi A, 2017, Model reduction for linear differential inclusions: Moment-set and time-variance, Pages: 3483-3487, ISSN: 0743-1619

© 2017 American Automatic Control Council (AACC). This paper deals with the problem of model reduction by moment matching for linear differential inclusions. The problem is formally formulated and the notions of moment-set and approximate reduced order model are introduced. We first solve the auxiliary problem of model reduction by moment matching for time-varying systems driven by time-varying signal generators. Then, we solve the problem of model reduction for linear differential inclusions. The results are illustrated by means of a numerical example.

CONFERENCE PAPER

Ascencio P, Astolfi A, Parisini T, 2016, An Adaptive Observer for a class of Parabolic PDEs based on a Convex Optimization Approach for Backstepping PDE Design, American Control Conference (ACC), Publisher: IEEE, Pages: 3429-3434, ISSN: 0743-1619

CONFERENCE PAPER

Ascencio P, Astolfi A, Parisini T, 2016, Backstepping PDE-Based Adaptive Observer for a Single Particle Model of Lithium-Ion Batteries, 55th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 5623-5628, ISSN: 0743-1546

CONFERENCE PAPER

Bauso D, Mylvaganam T, Astolfi A, 2016, Crowd-Averse Robust Mean-Field Games: Approximation via State Space Extension, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 61, Pages: 1882-1894, ISSN: 0018-9286

JOURNAL ARTICLE

Carnevale D, Galeani S, Sassano M, Astolfi Aet al., 2016, Robust hybrid estimation and rejection of multi-frequency signals, INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Vol: 30, Pages: 1649-1673, ISSN: 0890-6327

JOURNAL ARTICLE

Chang H, Moog C, Astolfi A, 2016, Occurrence of HIV eradication for preexposure prophylaxis treatment with a deterministic HIV model, IET SYSTEMS BIOLOGY, Vol: 10, Pages: 237-243, ISSN: 1751-8849

JOURNAL ARTICLE

Ionescu TC, Astolfi A, 2016, Nonlinear Moment Matching-Based Model Order Reduction, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 61, Pages: 2837-2847, ISSN: 0018-9286

JOURNAL ARTICLE

Jiang J, Astolfi A, 2016, Shared-Control for Typical Driving Scenarios, European Control Conference (ECC), Publisher: IEEE, Pages: 939-944

CONFERENCE PAPER

Jiang J, Astolfi A, 2016, State and Output-Feedback Shared-Control for a Class of Linear Constrained Systems, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 61, Pages: 3209-3214, ISSN: 0018-9286

JOURNAL ARTICLE

Jiang J, Di Franco P, Astolfi A, 2016, Shared Control for the Kinematic and Dynamic Models of a Mobile Robot, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, Vol: 24, Pages: 2112-2124, ISSN: 1063-6536

JOURNAL ARTICLE

Mylvaganam T, Astolfi A, 2016, Towards a Systematic Solution for Differential Games with Limited Communication, American Control Conference (ACC), Publisher: IEEE, Pages: 3814-3819, ISSN: 0743-1619

CONFERENCE PAPER

Mylvaganam T, Astolfi A, 2016, Dynamic Algorithms for Solving Coupled Algebraic Riccati Equations Arising in Mixed H-2/H-infinity Control for Scalar Linear Systems, 55th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 652-657, ISSN: 0743-1546

CONFERENCE PAPER

Mylvaganam T, Astolfi A, 2016, A Nash Game Approach to Mixed H-2/H-infinity Control for Input-Affine Nonlinear Systems, 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Publisher: ELSEVIER SCIENCE BV, Pages: 1024-1029, ISSN: 2405-8963

CONFERENCE PAPER

Padoan A, Astolfi A, 2016, A Note on Delay Coordinates for Locally Observable Analytic Systems, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 61, Pages: 1409-1412, ISSN: 0018-9286

JOURNAL ARTICLE

Padoan A, Astolfi A, 2016, Nonlinear system identification for autonomous systems via functional equations methods, American Control Conference (ACC), Publisher: IEEE, Pages: 1814-1819, ISSN: 0743-1619

CONFERENCE PAPER

Padoan A, Scarciotti G, Astolfi A, 2016, A geometric characterisation of persistently exciting signals generated by continuous-time autonomous systems, 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Publisher: ELSEVIER SCIENCE BV, Pages: 826-831, ISSN: 2405-8963

CONFERENCE PAPER

Padoan A, Scarciotti G, Astolfi A, 2016, A geometric characterisation of the persistence of excitation condition for sequences generated by discrete-time autonomous systems, 55th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 3843-3847, ISSN: 0743-1546

CONFERENCE PAPER

Sassano M, Astolfi A, 2016, Approximate Dynamic Tracking and Feedback Linearization, 55th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 5688-5693, ISSN: 0743-1546

CONFERENCE PAPER

Scarciotti G, Astolfi A, 2016, Moment-Based Discontinuous Phasor Transform and its Application to the Steady-State Analysis of Inverters and Wireless Power Transfer Systems, IEEE TRANSACTIONS ON POWER ELECTRONICS, Vol: 31, Pages: 8448-8460, ISSN: 0885-8993

JOURNAL ARTICLE

Scarciotti G, Astolfi A, 2016, A note on the electrical equivalent of the moment theory, American Control Conference (ACC), Publisher: IEEE, Pages: 7462-7465, ISSN: 0743-1619

CONFERENCE PAPER

Scarciotti G, Astolfi A, 2016, Model reduction for hybrid systems with state-dependent jumps, 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Publisher: ELSEVIER SCIENCE BV, Pages: 850-855, ISSN: 2405-8963

CONFERENCE PAPER

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