Related papers: Local weak observability conditions of sensorless …
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…
It is well-known that measuring the input voltage and current, as the feedforward and feedback terms, are vital for the controller design in the problem of power factor compensation of an AC-DC boost converter. Traditional adaptive…
The Apperception Engine is an unsupervised learning system. Given a sequence of sensory inputs, it constructs a symbolic causal theory that both explains the sensory sequence and also satisfies a set of unity conditions. The unity…
The spin-orbit coupling systems with a zero magnetic field is studied under the equilibrium situation, {\it i.e.}, without a voltage bias. A persistent spin current is predicted to exist under most circumstances, although the persistent…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
Model agnostic controller learning, for instance by direct policy optimization, has been the object of renewed attention lately, since it avoids a computationally expensive system identification step. Indeed, direct policy search has been…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Modeling driver behavior provides several advantages in the automotive industry, including prediction of electric vehicle energy consumption. Studies have shown that aggressive driving can consume up to 30% more energy than moderate…
This article proposes a mechanical sensorless control strategy for the synchronous rectification of small wind turbines equipped with a surface-mounted Permanent Magnet Synchronous Generator (PMSG). By means of Lyapunov theory, the Global…
Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal and simulative approaches for the verification of automated…
This paper studies the reduced-order or full-order, dead-beat observer problem for a class of nonlinear systems, linear in the unmeasured states. A novel hybrid observer design strategy is proposed, with the help of the notion of strong…
Currently, for many applications, it is necessary to know the speed and position of motors. This can be achieved using mechanical sensors coupled to the motor shaft or using sensorless techniques. The sensorless techniques in brushed dc…
An indirect data-driven state observer design approach for the inertia wheel pendulum considering static friction of the actuated inertia disc is presented. The frictional forces occurring in a real laboratory setup are characterized by the…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of…
The focus of this paper is on the null controllability of two kinds of coupled systems including both degenerate and non-degenerate equations with switching control. We first establish the observability inequality for measurable subsets in…
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…
Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However,…
We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it…