Related papers: Observability analysis of sensorless synchronous m…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
As deep learning continues to dominate all state-of-the-art computer vision tasks, it is increasingly becoming an essential building block for robotic perception. This raises important questions concerning the safety and reliability of…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
We develop a feedback controller that minimizes the observability of a set of adversarial sensors of a linear system, while adhering to strict closed-loop performance constraints. We quantify the effectiveness of adversarial sensors using…
Chronic disease management and follow-up are vital for realizing sustained patient well-being and optimal health outcomes. Recent advancements in wearable sensing technologies, particularly wrist-worn devices, offer promising solutions for…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…
Network partitioning has gained recent attention as a pathway to enable decentralized operation and control in large-scale systems. This paper addresses the interplay between partitioning, observability, and sensor placement (SP) in dynamic…
A joint characterisation of the controllability and observability of a particular kind of discrete system has been developed. The key idea of the procedure can be reduced to a correct choice of the sampling sequence. This freedom, owing to…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
The characterization of an interior permanent magnet synchronous machine (IPMSM) requires numerical analysis of the nonlinear magnetic motor model in different load conditions. To obtain the case-specific best machine behavior, a strategy…
This paper provides the extension of the observability rank condition and the extension of the controllability rank condition to time-varying nonlinear systems. Previous conditions to check the state observability and controllability, only…
In this paper, we investigate the properties of an improved swing equation model for synchronous generators. This model is derived by omitting the main simplifying assumption of the conventional swing equation, and requires a novel analysis…
This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC) motor drives, including the background analysis using sensors, limitations and advances. The performance and…
The monitoring of rotating machinery is an essential task in today's production processes. Currently, several machine learning and deep learning-based modules have achieved excellent results in fault detection and diagnosis. Nevertheless,…
This paper considers the problem of designing interval observers for hidden mode switched nonlinear systems with bounded noise signals that are compromised by false data injection and switching attacks. The proposed observer consists of…
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those landmarks using landmark position measurements and…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
In this paper, we study the problem of designing a simultaneous mode, input, and state set-valued observer for a class of hidden mode switched nonlinear systems with bounded-norm noise and unknown input signals, where the hidden mode and…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…