Related papers: From output regulation theory to flatness based tr…
Willems et al. showed that all input-output trajectories of a discrete-time linear time-invariant system can be obtained using linear combinations of time shifts of a single, persistently exciting, input-output trajectory of that system. In…
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…
Three-dimensional melting problems are investigated numerically with Lattice Boltzmann method (LBM). Regarding algorithm's accuracy and stability, Multiple-Relaxation-Time (MRT) models are employed to simplify the collision term in LBM.…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
This paper develops a control scheme, based on the use of Long Short-Term Memory neural network models and Nonlinear Model Predictive Control, which guarantees recursive feasibility with slow time variant set-points and disturbances, input…
Transformer-based multi-object tracking (MOT) methods have captured the attention of many researchers in recent years. However, these models often suffer from slow inference speeds due to their structure or other issues. To address this…
In this paper, the problem of tracking a given reference output trajectory is investigated for the class of Boolean control networks, by resorting to their algebraic representation. First, the case of a finite-length reference trajectory is…
The fact that event-triggered control (ETC) often exhibits an improved performance-communication tradeoff over time-triggered control renders it especially useful for Networked Control Systems (NCSs). However, it has proven difficult to…
Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…
In order to track all persons in a scene, the tracking-by-detection paradigm has proven to be a very effective approach. Yet, relying solely on a single detector is also a major limitation, as useful image information might be ignored.…
This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
We study the robust output regulation of linear boundary control systems by constructing extended systems. The extended systems are established based on solving static differential equations under two new conditions. We first consider the…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
This paper addresses the output regulation problem for a one-dimensional unstable wave equation subject to output delay and all-channel disturbances with unknown frequencies and amplitudes. First, this problem is transformed into a…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
Network topology has significant impacts on operational performance of power systems. While extensive research efforts have been devoted to optimization of network topology for improving various system performances, the problem of how to…
Multi-Object Tracking, also known as Multi-Target Tracking, is a significant area of computer vision that has many uses in a variety of settings. The development of deep learning, which has encouraged researchers to propose more and more…
The quadrature-based balanced truncation (QuadBT) framework of arXiv:2104.01006 is a non-intrusive reformulation of balanced truncation (BT), a classical projection-based model-order reduction technique for linear systems. QuadBT is…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…