Related papers: From output regulation theory to flatness based tr…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…
Multi-object tracking (MOT) is the problem of tracking the state of an unknown and time-varying number of objects using noisy measurements, with important applications such as autonomous driving, tracking animal behavior, defense systems,…
In this work, we present a novel Reinforcement Learning (RL) algorithm for the off-road trajectory tracking problem. Off-road environments involve varying terrain types and elevations, and it is difficult to model the interaction dynamics…
This paper introduces and analyses a continuous optimization approach to solve optimal control problems involving ordinary differential equations (ODEs) and tracking type objectives. Our aim is to determine control or input functions, and…
The main objective of tracking control is to steer the tracking error, that is the difference between the reference and the output, to zero while the plant's operation limits are satisfied. This requires that some assumptions on the…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…
In this study we focused on the linear Kawahara equation in a bounded domain, employing two boundary controls. The controllability of this system has been previously demonstrated over the past decade using the Hilbert uniqueness method…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
A hybrid (i.e., physics-guided data-driven) feedforward tracking controller is proposed for systems with unmodeled linear or nonlinear dynamics. The controller is based on the filtered basis function (FBF) approach, hence it is called a…
The dynamics of a quantum system driven by an external field is well described by a unitary transformation generated by a time dependent Hamiltonian. The inverse problem of finding the field that generates a specific unitary transformation…
The integration of traditional fixed-route transit (FRT) and more flexible microtransit has been touted as a means of improving mobility and access to opportunity, increasing transit ridership, and promoting environmental sustainability. To…
Flow Oriented Perturbation Theory (FOPT) is a novel approach to Feynman diagrams based on the coordinate (position) space description of Quantum Field Theories (QFT). FOPT offers interesting features regarding the computation of higher-loop…
Data association is an essential part in the tracking-by-detection based Multi-Object Tracking (MOT). Most trackers focus on how to design a better data association strategy to improve the tracking performance. The rule-based handcrafted…
Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…
Transport systems on networks are crucial in various applications, but face a significant risk of being adversely affected by unforeseen circumstances such as disasters. The application of entropy-regularized optimal transport (OT) on graph…
Continuous motorization and urbanization around the globe leads to an expansion of population in major cities. Therefore, ever-growing pressure imposed on the existing mass transit systems calls for a better technology, Intelligent…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…