Related papers: The Durham adaptive optics real-time controller
Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…
In the present work, an embedded PI controller is designed for speed regulation of DC servomotor over a wireless network. The embedded controller integrates PI controller with a proposed time-delay estimator and an adaptive digital Smith…
This paper explores the properties of adaptive systems with closed-loop reference models. Using additional design freedom available in closed-loop reference models, we design new adaptive controllers that are (a) stable, and (b) have…
In the realm of contemporary materials testing, the demand for scalability, adaptability, parallelism, and speed has surged due to the proliferation of diverse materials and testing standards. Traditional controller-based systems often fall…
Flexibility is increasingly gaining importance in modern power system operation. This paper presents a controller framework based on Online Feedback Optimization for real-time coordination of power system flexibility. The proposed approach…
This paper describes a step by step approach for implementing a scalable and run-time adaptable multi-standard packet detector for orthogonal frequency divisional multiplexing (OFDM) based communication standards. The paper briefly…
In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…
This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the…
Metaoptics are thin, planar surfaces consisting of many subwavelength optical resonators that can be designed to simultaneously control the amplitude, phase, and polarization to arbitrarily shape an optical wavefront much in the same manner…
Dynamical compensation (DC) provides robustness to parameter fluctuations. As an example, DC enable control of the functional mass of endocrine or neuronal tissue essential for controlling blood glucose by insulin through a nonlinear…
In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on…
Recent advances in adaptive optics (AO) have led to the implementation of wide field-of-view AO systems. A number of wide-field AO systems are also planned for the forthcoming Extremely Large Telescopes. Such systems have multiple wavefront…
This manuscript contains technical details of recent results developed by the authors on adaptive model predictive control for constrained linear, time varying systems.
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
The challenges involved in executing neural networks (NNs) at the edge include providing diversity, flexibility, and sustainability. That implies, for instance, supporting evolving applications and algorithms energy-efficiently. Using…
This paper focuses on power distribution networks featuring distributed energy resources (DERs), and develops controllers that drive the DER output powers to solutions of time-varying AC optimal power flow (OPF) problems. The design of the…
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
We propose a dynamic computational time model to accelerate the average processing time for recurrent visual attention (RAM). Rather than attention with a fixed number of steps for each input image, the model learns to decide when to stop…