Related papers: From output regulation theory to flatness based tr…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
Formulating the multi object tracking problem as a network flow optimization problem is a popular choice. In this paper an efficient way of learning the weights of such a network is presented. It separates the problem into one embedding of…
This article proposes an approach to design output-feedback controllers for unknown continuous-time linear time-invariant systems using only input-output data from a single experiment. To address the lack of state and derivative…
When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…
Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Tracking (DATT), a…
The ever-increasing use of artificial intelligence in autonomous systems has significantly contributed to advance the research on multi-object tracking, adopted in several real-time applications (e.g., autonomous driving, surveillance…
There is a growing interest in data-driven control of nonlinear systems over the last years. In contrast to related works, this paper takes a step back and aims to solve the output matching problem, a problem closely related to the…
Most of Multiple Object Tracking (MOT) approaches compute individual target features for two subtasks: estimating target-wise motions and conducting pair-wise Re-Identification (Re-ID). Because of the indefinite number of targets among…
In this paper we consider $(x,u)$-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of…
This brief aims at the issue of globally composite-learning-based neural fast finite-time (F-FnT) tracking control for a class of uncertain systems in strict-feedback form subject to nonlinearly periodic disturbances. First, uncertain…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
In bipartite consensus tracking (BCT) tasks for nonlinear multiagent systems, stochastic disturbances and actuator faults are regarded as essential factors that hamper effective controller formulation and tracking precision improvement. To…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
This paper investigates the linear output regulation problem with both the exosystem and the plant fully unknown. A data-driven regulator is proposed to achieve asymptotic regulation and closed-loop stability without performing model…
This paper proposes two cooperative optimal output tracking (COOT) algorithms based on policy iteration (PI) for discrete-time multi-agent systems with unknown model parameters. First, we establish a stabilizing PI framework that can start…
Current quantization-aware training (QAT) methods primarily focus on enhancing the performance of quantized models on in-distribution (I.D) data, while overlooking the potential performance degradation on out-of-distribution (OOD) data. In…
Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects in videos. Most methods can be roughly classified as tracking-by-detection and joint-detection-association paradigms. Although the latter has elicited…
This paper presents a study of two tracking algorithms (SORT~\cite{7533003} and Tracktor++~\cite{2019}) that were ranked first positions on the MOT Challenge leaderboard (The MOTChallenge web page: https://motchallenge.net ). The purpose of…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…