Related papers: Root Locus for SISO Dead-Time Systems: A Continuat…
We introduce a new closed-loop architecture for the online solution of approximate optimal control problems in the context of continuous-time systems. Specifically, we introduce the first algorithm that incorporates dynamic momentum in…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
This paper extends the concept of scalar cepstrum coefficients from single-input single-output linear time invariant dynamical systems to multiple-input multiple-output models, making use of the Smith-McMillan form of the transfer function.…
This paper addresses the problem of identifying sparse linear time-invariant (LTI) systems from a single sample trajectory generated by the system dynamics. We introduce a Lasso-like estimator for the parameters of the system, taking into…
A successive continuation method for locating connecting orbits in parametrized systems of autonomous ODEs is considered. A local convergence analysis is presented and several illustrative numerical examples are given.
This paper introduces a high-precision indoor positioning and tracking method that utilizes multi-site single-input single-output (SISO) radar systems. We propose a novel velocity synthesis-assisted (VSA) localization algorithm that…
Many natural systems exhibit cyclo-stationary behavior characterized by periodic forcing such as annual and diurnal cycles. We present a data-driven method leveraging recent advances in score-based generative modeling to construct…
In this experiment, a closed-loop discrete time system for speed control of a permanent magnet DC motor with discrete PI controller is implemented in embedded platform. The design & analysis of the system is based on the mathematical model…
We study a decentralized variant of stochastic approximation, a data-driven approach for finding the root of an operator under noisy measurements. A network of agents, each with its own operator and data observations, cooperatively find the…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
Continuous-time trajectory estimation is an attractive alternative to discrete-time batch estimation due to the ability to incorporate high-frequency measurements from asynchronous sensors while keeping the number of optimization parameters…
We propose a new algorithm called PLUTO for building logistic regression trees to binary response data. PLUTO can capture the nonlinear and interaction patterns in messy data by recursively partitioning the sample space. It fits a simple or…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
Lloyd algorithm is the standard iterative method for computing quantizers and codebooks in source coding and vector quantization. In this article, we study the dynamical and stability properties of the Lloyd map on the unit circle $\mathbb…
With the growing need for online and iterative graph processing, software systems that continuously process large-scale graphs become widely deployed. With optimizations inherent as part of their design, these systems are complex, and have…
We consider the problem of boundary feedback control of single-input-single-output (SISO) one-dimensional linear hyperbolic systems when sensing and actuation are anti-located. The main issue of the output feedback stabilization is that it…
As a model of trapping by biased motion in random structure, we study the time taken for a biased random walk to return to the root of a subcritical Galton-Watson tree. We do so for trees in which these biases are randomly chosen,…
Refined instrumental variable methods have been broadly used for identification of continuous-time systems in both open and closed-loop settings. However, the theoretical properties of these methods are still yet to be fully understood when…