Chris Manzie

Tuning of model predictive engine controllers over transient drive cycles

Alejandro Maass, Chris Manzie, Iman Shames, Robert Chin, Dragan Nesic, Nalika Ulapane, Hayato Nakada

Conference Proceedings  |  2021  |  IFAC PAPERSONLINE

A framework for tuning the parameters of model predictive controllers (MPCs) based on gradient-free optimisation (GFO) is proposed..

Minimizing Pumping Energy Cost in Real-Time Operations of Water Distribution Systems Using Economic Model Predictive Control

Ye Wang, Kevin Too Yok, Wenyan Wu, Angus R Simpson, Erik Weyer, Chris Manzie

Journal article  |  2021  |  JOURNAL OF WATER RESOURCES PLANNING AND MANAGEMENT

Optimizing pump operations is a challenging task for real-time management of water distribution systems (WDS). With suitable pump ..

Real-time Distributed MPC for Multiple Underwater Vehicles with Limited Communication Data-rates

Y Yang, Y Wang, C Manzie, Y Pu

Conference Proceedings  |  2021  |  Proceedings of the American Control Conference

Controlling a fleet of autonomous underwater vehicles can be challenging due to low data-rate communication between agents. This p..

Path following by Formations of Agents with Collision Avoidance Guarantees using Distributed Model Predictive Control

Y Wang, Y Yang, Y Pu, C Manzie

Conference Proceedings  |  2021  |  Proceedings of the American Control Conference

In this paper, we present a distributed model predictive control (MPC) strategy for path following and formation control of multi-..

Complexity minimisation of suboptimal MPC without terminal constraints

Andrei Pavlov, Matthias Mueller, Chris Manzie, Iman Shames

Conference Proceedings  |  2021  |  IFAC PAPERSONLINE

This paper generalises stability analysis of Nonlinear Model Predictive Control without terminal constraints to incorporate possib..

Exploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic Interfaces

Ricardo Garcia-Rosas, Tianshi Yu, Denny Oetomo, Chris Manzie, Ying Tan, Peter Choong

Journal article  |  2021  |  IEEE ROBOTICS AND AUTOMATION LETTERS

Human-prosthetic interfaces require their settings to be tuned to individual users. This can potentially be done autonomously whil..

Practical exponential stability and closeness of solutions for singularly perturbed systems via averaging

Mohammad Deghat, Saeed Ahmadizadeh, Dragan Nesic, Chris Manzie

Journal article  |  2021  |  AUTOMATICA

This paper studies the behavior of singularly perturbed nonlinear differential equations with boundary-layer solutions that do not..

Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping

Wenceslao Shaw Cortez, Denny Oetomo, Chris Manzie, Peter Choong

Journal article  |  2021  |  IEEE Transactions on Control Systems Technology

Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of con..

Personalized Online Adaptation of Kinematic Synergies for Human-Prosthesis Interfaces.

Ricardo Garcia-Rosas, Ying Tan, Denny Oetomo, Chris Manzie, Peter Choong

Journal article  |  2021  |  IEEE Transactions on Cybernetics

Synergies have been adopted in prosthetic limb applications to reduce the complexity of design, but typically involve a single syn..

Interior Point Differential Dynamic Programming

A Pavlov, I Shames, C Manzie

Journal article  |  2021  |  IEEE Transactions on Control Systems Technology

This brief introduces a novel differential dynamic programming (DDP) algorithm for solving discrete-time finite-horizon optimal co..