Related papers: Active Fault Tolerant Flight Control System Design…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
Autonomous vehicles (AV) depend on the sensors like RADAR and camera for the perception of the environment, path planning, and control. With the increasing autonomy and interactions with the complex environment, there have been growing…
This paper presents an excitation operator based fault separation architecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss of effectiveness (LoE) faults, actuator aging, and load uncertainty. The actuator fault dynamics is…
The problem of faulty sensor detection is investigated in large sensor networks where the sensor faults are sparse and time-varying, such as those caused by attacks launched by an adversary. Group testing and the Kalman filter are designed…
When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…
Atmospheric flight phase of a launch vehicle is utilized to evaluate the performance of an H-infinity controller in the presence of disturbances. Dynamics of the vehicle is linearly modeled using time-varying parameters. An operating point…
This paper proposes a nonlinear estimator for the robust reconstruction of process and sensor faults for a class of uncertain nonlinear systems. The proposed fault estimation method augments the system dynamics with an ultra-local (in time)…
This paper solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust-adaptive control strategy. The developed controller compensates for the uncertainty in the control…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…
In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, which require explicit identification of malfunctioning…
In this paper we provide a basic introduction of the core ideas and theories surrounding fault-tolerant quantum computation. These concepts underly the theoretical framework of large-scale quantum computation and communications and are the…
We present a stochastic predictive controller for discrete time linear time invariant systems under incomplete state information. Our approach is based on a suitable choice of control policies, stability constraints, and employment of a…
We extensively test a recent protocol to demonstrate quantum fault tolerance on three systems: (1) a real-time simulation of five spin qubits coupled to an environment with two-level defects, (2) a real-time simulation of transmon quantum…
This paper proposes a novel framework for active fault diagnosis and parameter estimation in linear systems operating in closed-loop, subject to unknown but bounded faults. The approach integrates set-membership identification with a cost…
A desirable property of control systems is to be robust to inputs, that is small perturbations of the inputs of a system will cause only small perturbations on its outputs. But it is not clear whether this property is maintained at the…
Large-scale decentralized systems of autonomous agents interacting via asynchronous communication often experience the following self-healing dilemma: fault detection inherits network uncertainties making a remote faulty process…