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Yvonne R. Stürz
Researcher at University of California, Berkeley
Publications - 35
Citations - 220
Yvonne R. Stürz is an academic researcher from University of California, Berkeley. The author has contributed to research in topics: Control theory & Model predictive control. The author has an hindex of 6, co-authored 31 publications receiving 123 citations. Previous affiliations of Yvonne R. Stürz include University of Padua & École Polytechnique Fédérale de Lausanne.
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Journal ArticleDOI
Parameter Identification of the KUKA LBR iiwa Robot Including Constraints on Physical Feasibility
TL;DR: In this paper, the authors presented the identification of the minimal set of base parameters, as well as a consistent set of physical parameters for a rigid-link model of the KUKA LBR iiwa 14 R820 robot, including friction.
Proceedings ArticleDOI
A Simple Robust MPC for Linear Systems with Parametric and Additive Uncertainty
TL;DR: In this article, a robust MPC controller for constrained uncertain linear systems is proposed, where the uncertainty is modeled as an additive disturbance and an additive error on the system dynamics matrices.
Journal ArticleDOI
Active control of a rod-net formwork system prototype
TL;DR: A control system was developed to determine the necessary adjustments at the boundary elements to move the rod-net to a target geometry to eliminate deviations that may arise from fabrication and construction tolerances, and showed that with minimal adjustments the rods could be directed effectively.
Posted Content
Robust MPC for LTI Systems with Parametric and Additive Uncertainty: A Novel Constraint Tightening Approach.
TL;DR: This work proposes a novel optimization-based constraint tightening strategy around a predicted nominal trajectory which utilizes set based bounds for each component of the model uncertainty which proves robust satisfaction of the imposed constraints by the resulting MPC controller in closed-loop with the uncertain system.
Journal ArticleDOI
Distributed Control Design for Heterogeneous Interconnected Systems
TL;DR: In this article, a distributed method based on the alternating direction method of multipliers is proposed to solve the synthesis conditions that are coupled only over neighboring subsystems, which only requires nearest-neighbor communication and no central coordination is needed.