Related papers: Observability of Sensorless Electric Drives
Alignment of the strapdown inertial navigation system (INS) has strong nonlinearity, even worse when maneuvers, e.g., tumbling techniques, are employed to improve the alignment. There is no general rule to attack the observability of a…
Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
Sufficient and necessary conditions are established for controllability of affine control systems where the control is constrained to a set whose convex hull contains the origin but is not necessarily, in contrast with previously known…
In the present paper we consider controllability and observability of second order linear time invariant systems in matrix form. Without reducing into first order systems we show how the classical conditions for first order linear systems…
Unmanned aerial vehicles (UAVs) rely on optical sensors such as cameras and lidar for autonomous operation. However, such optical sensors are error-prone in bad lighting, inclement weather conditions including fog and smoke, and around…
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…
We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread…
This paper presents a closed-form notion of controllability and observability for systems with communication delays, actuation delays, and locality constraints. The formulation reduces to classical notions of controllability and…
This paper explores the problem of selecting sensor nodes for a general class of nonlinear dynamical networks. In particular, we study the problem by utilizing altered definitions of observability and open-loop lifted observers. The…
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…
A learning method is proposed for Koopman operator-based models with the goal of improving closed-loop control behavior. A neural network-based approach is used to discover a space of observables in which nonlinear dynamics is linearly…
Automated parking requires accurate localization for quick and precise maneuvering in tight spaces. While the longitudinal velocity can be measured using wheel encoders, the estimation of the lateral velocity remains a key challenge due to…
In control theory, understanding the observability property of a system is crucial for effectively managing and controlling dynamical systems. This property empowers us to deduce the internal state of a system from its outputs over time,…
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
The rapid development and expansion of the EV market marked by the advent of third decade of the 21st century has improved the possibility of a sustainable automotive future. The present EV drivetrain run by BLDC motor has become…
This article proposes a nonlinear microscopic dynamical model for autonomous electric vehicles (A-EVs) that considers battery energy efficiency in the car-following dynamics. The model builds upon the Optimal Velocity Model (OVM), with the…
A commonly encountered problem is the tracking of a physical object, like a maneuvering ship, aircraft, land vehicle, spacecraft or animate creature carrying a wireless device. The sensor data is often limited and inaccurate observations of…
Pervasive and mobile sensing is an integral part of smart transport and smart city applications. Vehicle-based mobile sensing, or drive-by sensing (DS), is gaining popularity in both academic research and field practice. The DS paradigm has…