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Studies suggest that involuntary eye movements exhibit greater stability during active motion compared to passive motion, and this effect may also apply to the operation of ride-on machinery. Moreover, a study suggested that experimentally…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
The problem of exact observability is analyzed for a wide class of neutral type systems by an infinite dimensional approach. The duality with the exact controllabil-ity problem is the main tool. It is based on an explicit expression of a…
We present a non-linear stability analysis of quasi-static slip in a spring-block model. The sliding interface is governed by rate- and state-dependent friction, with an intermediate state evolution law that spans between aging and slip…
When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…
One of the least studied universal deformations of incompressible nonlinear elasticity, namely the straightening of a sector of a circular cylinder into a rectangular block, is revisited here and, in particular, issues of existence and…
In this paper, the relationship between notions of observability for continuous-time nonlinear system related to distinguishability, observability rank condition and K-function has been investigated. It is proved that an autonomous…
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
In a pedagogical but exhaustive manner, this survey reviews the main results on input-to-state stability (ISS) for infinite-dimensional systems. This property allows estimating the impact of inputs and initial conditions on both the…
This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em…
Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
Real-time motion tracking of kinematic chains is a key prerequisite in the control of, e.g., robotic actuators and autonomous vehicles and also has numerous biomechanical applications. In recent years, it has been shown that, by placing…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…