Related papers: Estimating load points of a motor-pump system usin…
This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…
In robotics, designing robust algorithms in the face of estimation uncertainty is a challenging task. Indeed, controllers often do not consider the estimation uncertainty and only rely on the most likely estimated state. Consequently,…
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone…
Decision-making for automated driving remains a challenging task. For their integration into real platforms, these algorithms must guarantee passenger safety and comfort while ensuring interpretability and an appropriate computational time.…
Fast and accurate load parameters identification has great impact on the power systems operation and stability analysis. This paper proposes a novel transfer reinforcement learning based method to identify composite ZIP and induction motor…
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit…
This paper proposes a method for calibrating control parameters. Examples of such control parameters are gains of PID controllers, weights of a cost function for optimal control, filter coefficients, the sliding surface of a sliding mode…
I will discuss a new method for calculating transport quantities, such as the charged particle stopping power, in a weakly to moderately coupled plasma. This method, called dimensional continuation, lies within the framework of convergent…
An automated driving system should have the ability to supervise its own performance and to request human driver to take over when necessary. In the lane keeping scenario, the prediction of vehicle future trajectory is the key to realize…
Probabilistic model checking computes probabilities and expected values related to designated behaviours of interest in Markov models. As a formal verification approach, it is applied to critical systems; thus we trust that probabilistic…
This paper identifies the stator currents, torque and unbalanced magnetic pull (UMP) of an unbalanced induction motor by the System Identification of Nonlinear Dynamics with Control (SINDYc) method from time-series data of measurable…
Many motion planning algorithms for automated driving require estimating the probability of collision (POC) to account for uncertainties in the measurement and estimation of the motion of road users. Common POC estimation techniques often…
Learning from two-level voltage source converters, the existing impedance-based stability analyses of modular multilevel converters (MMCs) primarily focus on system modes with finite closed-loop transfer functions, which consider…
In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion. Our approach uses the Koopman operator theory to transform…
A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has…
A number of attempts have been made to improve accuracy and/or scalability of the PC (Peter and Clark) algorithm, some well known (Buhlmann, et al., 2010; Kalisch and Buhlmann, 2007; 2008; Zhang, 2012, to give some examples). We add here…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…
A numerical method to calculate optical conductivity based on a pump-probe setup is presented. Its validity and limits are tested and demonstrated via the concrete numerical simulations on the half-filled one-dimensional extended Hubbard…
This paper proposes an advanced machine identification method for inverter fed squirrel-cage induction machines, based on steady-state measurements in the rotor flux oriented dq-reference frame. The measured machine maps are used to extract…
This paper introduces a computationally efficient approach for solving Model Predictive Control (MPC) reference tracking problems with state and control constraints. The approach consists of three key components: First, a log-domain…