Related papers: Assisted Control for Semi-Autonomous Power Infrast…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…
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…
This project aimed to design, simulate, and implement a two-axis inertially stabilised platform (ISP) for use in astronomical applications. It aimed to approximate the stabilisation of a Meade ETX-90 3.5" compound telescope at low-cost…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
s miniaturization of electrical and mechanical components used in modern technology progresses, there is an increasing need for high-throughput and low-cost micro-scale assembly techniques. Many current micro-assembly methods are serial in…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
The widespread deployment of power electronic technologies is transforming modern power systems into fast, nonlinear, and heterogeneous networks. Conventional modeling and control approaches, rooted in quasi-static analysis and centralized…
This paper is on the automated driving architecture and operation of a light commercial vehicle. Simple longitudinal and lateral dynamic models of the vehicle and a more detailed CarSim model are developed and used in simulations and…
The design of a prototype to carry out take-off and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by…
Distributed secondary control plays an important role in DC microgrids, since it ensures system control objectives, which are power sharing and DC bus voltage stability. Previous studies have suggested using a control architecture that…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Automated inspection with Unmanned Aerial Systems (UASs) is a transformative capability set to revolutionize various application domains. However, this task is inherently complex, as it demands the seamless integration of perception,…
This study proposes a control strategy to ensure the safe operation of modern power systems with high penetration of inverter-based resources (IBRs) within an optimal operation framework. The objective is to obtain operating points that…
This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect…
This paper investigates the boresight alignment control problem under safety constraints and performance requirements, involving pointing-forbidden constraint, attitude angular velocity limitation, and pointing accuracy requirement.…
The article provides an overview of the latest developments on control approaches for connected and automated vehicles along with their effectiveness on energy and transportation efficiency.
An approach to control tethered wings for airborne wind energy is proposed. A fixed length of the lines is considered, and the aim of the control system is to obtain figure-eight crosswind trajectories. The proposed technique is based on…
The tower crane is involving more automated and intelligent operation procedure, and importantly, the application of automation technologies to the safety issues is imperative ahead of the utilization of any other advances. Among diverse…