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Edge computing pushes the cloud computing boundaries beyond uncertain network resource by leveraging computational processes close to the source and target of data. Time-sensitive and data-intensive video surveillance applications benefit…
This paper proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to…
Lightweight thermal management is central to the design of the all-silicon Inner Tracker of the Compressed Baryonic Matter Experiment (CBM) at the Facility for Antiproton and Ion Research (FAIR). This experiment aims to study strongly…
The Detector Control System (DCS) of the COMPASS experiment at CERN is presented. The experiment has a high level of complexity and flexibility and a long time of operation, that constitute a challenge for its full monitorisation and…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…
As supercomputers continue to grow in scale and capabilities, it is becoming increasingly difficult to isolate processor and system level causes of performance degradation. Over the last several years, a significant number of performance…
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double…
Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB)…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
A novel model reduction framework for large-scale complex systems is proposed by introducing function-type dynamic control systems via the dimension-keeping semi-tensor product (DK-STP) of matrices. Utilizing bridge matrices, the DK-STP…
Disturbance observer is an inner-loop output-feedback controller whose role is to reject external disturbances and to make the outer-loop baseline controller robust against plant's uncertainties. Therefore, the closed-loop system with the…
In this paper, we propose a novel algorithm for learning the Koopman operator of a dynamical system from a \textit{small} amount of training data. In many applications of data-driven modeling, e.g. biological network modeling,…
Precise measurements from sensors are crucial, but data is usually collected from low-cost, low-tech systems, which are often inaccurate. Thus, they require further calibrations. To that end, we first identify three requirements for…
In recent years, the success of the Koopman operator in dynamical systems analysis has also fueled the development of Koopman operator-based control frameworks. In order to preserve the relatively low data requirements for an approximation…
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…
The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…
To control structural responses under various actions, the growing use of supplementary damping systems in modern civil engineering structures necessitates inspecting and evaluating their operational performance postinstallation. However,…
In recent years data-driven analysis of dynamical systems has attracted a lot of attention and transfer operator techniques, namely, Perron-Frobenius and Koopman operators are being used almost ubiquitously. Since data is always obtained in…
This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the…