Related papers: Three-Dimensional Integrated Guidance and Control …
This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…
We propose and analyze discontinuous Galerkin (dG) approximations to 3D-1D coupled systems which model diffusion in a 3D domain containing a small inclusion reduced to its 1D centerline. Convergence to weak solutions of a steady state…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…
We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…
This letter proposes a decentralized local gain condition (LGC) to guarantee oscillation damping in inverter-based resource (IBR)-dominated power systems. The LGC constrains the dynamic gain between each IBR and the network at its point of…
Discrete-time stochastic optimal control remains a challenging problem for general, nonlinear systems under significant uncertainty, with practical solvers typically relying on the certainty equivalence assumption, replanning and/or…
This paper studies the immersion and invariance (I&I) adaptive tracking problem for a class of nonlinear systems with nonlinear parameterization in the ISS framework. Under some mild assumptions, a novel I&I adaptive control algorithm is…
Iterative Learning Control (ILC) can achieve perfect tracking performance for mechatronic systems. The aim of this paper is to present an ILC design tutorial for industrial mechatronic systems. First, a preliminary analysis reveals the…
This paper introduces a novel Lyapunov-based small-gain methodology for establishing fixed-time stability (FxTS) guarantees in interconnected dynamical systems. Specifically, we consider interconnections in which each subsystem admits an…
This paper presents a novel methodology for the design of boundary feedback stabilizers for 1-D, semilinear, parabolic PDEs. The methodology is based on the use of small-gain arguments and can be applied to parabolic PDEs with…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
We formulate and analyze a three-dimensional model of motion camouflage, a stealth strategy observed in nature. A high-gain feedback law for motion camouflage is formulated in which the pursuer and evader trajectories are described using…
As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap, which comes from nonlinear model bias and susceptibility…
Microscopic traffic simulations are used to evaluate the impact of infrastructure modifications and evolving vehicle technologies, such as connected and automated driving. Simulated vehicles are controlled via car-following, lane-changing…
This work proposes a cooperative strategy that employs deviated pursuit guidance to simultaneously intercept a moving (but not manoeuvring) target. As opposed to many existing cooperative guidance strategies which use estimates of…
Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…
Integrated sensing and communications (ISAC) as one of the key technologies is capable of supporting high-speed communication and high-precision sensing for the upcoming 6G. This paper studies a waveform strategy by designing the orthogonal…
Stochastic Gradient Descent (SGD) is an out-of-equilibrium algorithm used extensively to train artificial neural networks. However very little is known on to what extent SGD is crucial for to the success of this technology and, in…
The design of guidance law can be considered a kind of finite-time error-tracking problem. A unified free-time convergent guidance law design approach based on the error dynamics and the free-time convergence method is proposed in this…