Related papers: Observability analysis of sensorless synchronous m…

The paper addresses the problem of estimating robustly the external load torque in rotary actuator systems, when only the generated motor drive torque and angular displacement are the available input and output. We compare, theoretically…

In this paper, we review some recent results about the use of dynamic observers for fault diagnosis of discrete event systems. Fault diagnosis consists in synthesizing a diagnoser that observes a given plant and identifies faults in the…

Synchronization is of great scientific interest due to the abundant applications in a wide range of systems. We propose a scheme to achieve the controllable long-distance synchronization of two dissimilar optomechanical systems, which are…

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…

This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…

In this paper we propose a new observability property for nonautonomous linear control systems in finite dimension: the nonuniform complete observability, which is more general than the uniform complete observability. A dual relationship is…

Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…

Observability and controllability are essential concepts to the design of predictive observer models and feedback controllers of networked systems. For example, noncontrollable mathematical models of real systems have subspaces that…

Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…

Analyzing the order of unobservable impulse in descriptor system leads to a new testing criterion for impulse observability, both the statement and the proof of which use only the original system data.

Synchronization processes are ubiquitous despite the many connectivity patterns that complex systems can show. Usually, the emergence of synchrony is a macroscopic observable, however, the microscopic details of the system, as e.g. the…

Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…

Analyzing data from dynamical systems often begins with creating a reconstruction of the trajectory based on one or more variables, but not all variables are suitable for reconstructing the trajectory. The concept of nonlinear observability…

This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…

A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…

The synchrotron light source, a cutting-edge large-scale user facility, requires autonomous synchrotron beamline operations, a crucial technique that should enable experiments to be conducted automatically, reliably, and safely with minimum…

This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…

In this paper, we introduce the concept of observability of targeted state variables for systems that may not be fully observable. For their estimation, we introduce and exemplify a deep filter, which is a neural network specifically…

Wear and tear detection in fleet and shared vehicle systems is a critical challenge, particularly in rental and car-sharing services, where minor damage, such as dents, scratches, and underbody impacts, often goes unnoticed or is detected…