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The measurement of an electromagnetic radiation field by a linearly accelerated observer is discussed. The nonlocality of this process is emphasized. The nonlocal theory of accelerated observers is briefly described and the consequences of…
This paper is concerned with the design of an augmented state feedback controller for finite-dimensional linear systems with nonlinear observation dynamics. Most of the theoretical results in the area of (optimal) feedback design are based…
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By…
Observer design for linear systems with aperiodic sampled-data measurements is addressed. To solve this problem, a novel hybrid observer is designed. The main peculiarity of the proposed observer consists of the use two output injection…
The security of control systems under sensor attacks is investigated. Redundant observability is introduced, explaining existing security notions including the security index, attack detectability, and observability under attacks.…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
The accuracy of sensor fusion algorithms are limited by either the intrinsic sensor noise, or by the quality of time synchronization of the sensors. While the intrinsic sensor noise only depends on the respective sensors, the error induced…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Wearable devices and sensors have recently become a popular way to collect data, especially in the health sciences. The use of sensors allows patients to be monitored over a period of time with a high observation frequency. Due to the…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
Field oriented control of permanent magnet synchronous motor drives involves the closed-loop regulation of currents in the synchronous reference frame. The current feedback is directly affected by errors in both position and stationary…
Most research designing novel predictive models, or employing existing ones, assumes that training and testing data are independent and identically distributed. In practice, the data encountered at serving time often deviate from the…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
Coupled oscillator-based networks are an attractive approach for implementing hardware neural networks based on emerging nanotechnologies. However, the readout of the state of a coupled oscillator network is a difficult challenge in…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…
In this paper, the problem of distributed state estimation of human-driven vehicles (HDVs) by connected autonomous vehicles (CAVs) is investigated in mixed traffic transportation systems. Toward this, a distributed observable state-space…
We develop a linear systems theory that coincides with the existing theories for continuous and discrete dynamical systems, but that also extends to linear systems defined on nonuniform time domains. The approach here is based on…