Related papers: Active Noise Control with Sampled-Data Filtered-x …
The paper presents a data-driven predictive control framework based on an implicit input-output mapping derived directly from the signal matrix of collected data. This signal matrix model is derived by maximum likelihood estimation with…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
A recurrent task in coordinated systems is managing (estimating, predicting, or controlling) signals that vary in space, such as distributed sensed data or computation outcomes. Especially in large-scale settings, the problem can be…
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the needle variations of optimal control---as the basis for choosing each control response to the current state. A…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Acoustic metamaterials and active noise control are two advanced noise control treatments that can typically offer performance that exceeds that of conventional passive noise control treatments. Acoustic metamaterials utilize sub-wavelength…
This paper proposes a hierarchical adaptive sampling scheme for passivity characterization of large-scale linear lumped macromodels. Here, large-scale is intended both in terms of dynamic order and especially number of input/output ports.…
This paper explores the theoretical limits of using discrete abstractions for nonlinear control synthesis. More specifically, we consider the problem of deciding continuous-time control with temporal logic specifications. We prove that…
An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…
Filtered-X LMS (FxLMS) is commonly used for active noise control (ANC), wherein the soundfield is minimized at a desired location. Given prior knowledge of the spatial region of the noise or control sources, we could improve FxLMS by…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
Diffusion-based samplers -- Score Based Diffusions, Bridge Diffusions and Path Integral Diffusions -- match a target at terminal time, but the real leverage comes from choosing the schedule that governs the intermediate-time dynamics. We…
The selective frequency damping (SFD) method is an alternative to classical Newton's method to obtain unstable steady-state solutions of dynamical systems. However this method has two main limitations: it does not converge for arbitrary…
We study a diagnosis scheme to reliably detect the active mode of discrete-time, switched affine systems in the presence of measurement noise and asynchronous switching. The proposed scheme consists of two parts: (i) the construction of a…
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous system is an integral part of subsequent analysis. Feedback…
Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…
This work introduces progressive spatio-temporal filtering, an efficient method to build all-frequency approximations to the light transport distribution into a scene by filtering individual samples produced by an underlying path sampler,…
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the second-order needle variations of optimal control---as the basis for choosing each control response to the current…