A Bayesian optimization framework for the automatic tuning of MPC-based shared controllers

This paper presents a Bayesian optimization framework for the automatic tuning of shared controllers which are defined as a Model Predictive Control (MPC) problem. The proposed framework includes the design of performance metrics as well as the representation of user inputs for simulation-based optimization. The framework is applied to the optimization of a shared controller for an Image Guided Therapy robot. VR-based user experiments confirm the increase in performance of the automatically tuned MPC shared controller with respect to a hand-tuned baseline version as well as its generalization ability

A Bayesian optimization framework for the automatic tuning of MPC-based shared controllers

This paper presents a Bayesian optimization framework for the automatic tuning of shared controllers which are defined as a Model Predictive Control (MPC) problem. The proposed framework includes the design of performance metrics as well as the representation of user inputs for simulation-based optimization. The framework is applied to the optimization of a shared controller for an Image Guided Therapy robot. VR-based user experiments confirm the increase in performance of the automatically tuned MPC shared controller with respect to a hand-tuned baseline version as well as its generalization ability

Bifurcations in nonlinear discontinuous systems

This paper treats bifurcations of periodic solutions in discontinuous systems of the Filippov type. Furthermore, bifurcations of fixed points in non-smooth continuous systems are addressed. Filippov’s theory for the definition of solutions of discontinuous systems is surveyed and jumps in fundamental solution matrices are discussed. It is shown how jumps in the fundamental solution matrix lead to jumps of the Floquet multipliers of periodic solutions. The Floquet multipliers can jump through the unit circle causing discontinuous bifurcations. Numerical examples are treated which show various discontinuous bifurcations. Also infinitely unstable periodic solutions are addressed