Related papers: Active Fault Tolerant Flight Control System Design

This paper aims to determine the fault tolerant quantum filter and fault detection equation for a class of open quantum systems coupled to a laser field that is subject to stochastic faults. In order to analyze this class of open quantum…

Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…

Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…

Since some years ago, use of Feedback Control Scheduling Algorithm (FCSA) in the control scheduling co-design of multiprocessor embedded system has increased. FCSA provides Quality of Service (QoS) in terms of overall system performance and…

In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…

Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making…

In this paper, we consider the design of data-driven predictive controllers for nonlinear systems from input-output data via linear-in-control input Koopman lifted models. Instead of identifying and simulating a Koopman model to predict…

This study proposes a general, scalable method to learn control-oriented thermal models of buildings that could enable wide-scale deployment of cost-effective predictive controls. An Unscented Kalman Filter augmented for parameter and…

Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…

The dynamical response of an aircraft subject to gust perturbations is a key element in a preliminary design phase. In particular, the loads induced by gusts along the wing should not exceed some limit values and should even ideally be…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…

Elastically-supported section model tests are the most basic experimental technique in wind engineering, where helical springs are commonly employed to simulate the two-degree-of-freedom low-order modal motions of flexible structures.…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

Learning-based navigation systems are widely used in autonomous applications, such as robotics, unmanned vehicles and drones. Specialized hardware accelerators have been proposed for high-performance and energy-efficiency for such…

We study fault identification in discrete-time nonlinear systems subject to additive Gaussian white noise. We introduce a Bayesian framework that explicitly accounts for unmodeled faults under reasonable assumptions. Our approach hinges on…

This paper addresses the problem of estimating multiplicative fault signals in linear time-invariant systems by processing its input and output variables, as well as designing an input signal to maximize the accuracy of such estimates. The…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

In this work, we propose a novel motion planning algorithm to facilitate safety-critical navigation for autonomous mobile robots. The proposed algorithm integrates a real-time dynamic obstacle tracking and mapping system that categorizes…

This work presents a scalable control framework based on nonlinear Model Predictive Control for high-dimensional dynamical systems. The proposed approach addresses the key challenges of model scalability and partial observability by…