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The analysis and proper documentation of the properties of closed-loop control software presents many distinct aspects from the analysis of the same software running open-loop. Issues of physical system representations arise, and it is…
We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying…
We present novel soft-input soft-output (SISO) multiple-input multiple-output (MIMO) detectors based on the Chase detection principle [1] in the context of iterative and decoding (IDD). The proposed detector complexity is linear in the…
In this paper, we propose a multiscale method for heterogeneous Stokes problems. The method is based on the Localized Orthogonal Decomposition (LOD) methodology and has approximation properties independent of the regularity of the…
Data-driven controls using Gaussian process regression have recently gained much attention. In such approaches, system identification by Gaussian process regression is mostly followed by model-based controller designs. However, the outcomes…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
We develop a new symbolic-numeric algorithm for the certification of singular isolated points, using their associated local ring structure and certified numerical computations. An improvement of an existing method to compute inverse systems…
Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the…
The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition.…
A new conservative symmetry-preserving second-order time-accurate PISO-based pressure-velocity coupling for solving the incompressible Navier-Stokes equations on unstructured collocated grids is presented in this paper. This new method for…
In various areas of applied numerics, the problem of calculating the logarithm of a matrix A emerges. Since series expansions of the logarithm usually do not converge well for matrices far away from the identity, the standard numerical…
We study the problem of devising a closed-loop strategy to control the position of a robot that is tracking a possibly moving target. The robot is capable of obtaining noisy measurements of the target's position. The key idea in active…
Soft-input soft-output (SISO) detection algorithms form the basis for iterative decoding. The computational complexity of SISO detection often poses significant challenges for practical receiver implementations, in particular in the context…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…
We propose and analyze a stabilizing iteration scheme for the algorithmic implementation of model predictive control for linear discrete-time systems. Polytopic input and state constraints are considered and handled by means of so-called…
The long-term dynamics of many dynamical systems evolve on an attracting, invariant "slow manifold" that can be parameterized by a few observable variables. Yet a simulation using the full model of the problem requires initial values for…