Related papers: On Angular Speed Estimation of Rigid Bodies
There are recent shifts in demand for design controllers from simplified to complex model-based. Although simplification approaches are successful in many areas of engineering control systems, high-fidelity simulation-based control design,…
We address the problem of estimating the inputs of a dynamical system from measurements of the system's outputs. To this end, we introduce a novel estimation algorithm that explicitly trades off bias and variance to optimally reduce the…
This work introduces a novel analytical model for estimating the airspeed of fixed-wing Unmanned Aerial Vehicles (UAVs) using solely propeller power and rotational speed measurements. The model can be used to replace Pitot-tube-based…
The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…
Observers of the uniformly accelerating observers or the observers who make up the system of uniformly accelerating observers reach the same velocity V at different times ti which depends on V and on theirs acceleration gi. Considering a…
Using a nonlocal macroscopic LWR-type traffic flow model, we present an approach to control the nonlocal velocity towards a given equilibrium velocity. Therefore, we present a Lyapunov function measuring the $L^2$ distance between these…
This paper deals with learning stability of partially observed switched linear systems under arbitrary switching. Such systems are widely used to describe cyber-physical systems which arise by combining physical systems with digital…
This paper proposes a method of estimating a target-object shape, the location of which is unknown, through the use of location-unknown mobile distance sensors. The direction of the sensor is fixed from the moving direction. Typically,…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
The problem of the dynamical stability of anistropic systems is studied, by proposing a criterion in terms of the adiabatic local index $\gamma$. The result has general validity and can be applied to several physical situations.…
A wide body of work has applied the concept of critical slowing down to estimate the stability of different Earth system components. Most of them -- such as global vegetation -- are inherently non-stationary, for example due to strong…
We give a succinct and self-contained description of the synchronized motion on networks of mutually coupled oscillators. Usually, the stability criterion for the stability of synchronized motion is obtained in terms of Lyapunov exponents.…
We consider a single disk moving under the influence of a 2D viscous fluid and we study the asymptotic as the size of the solid tends to zero.If the density of the solid is independent of $\varepsilon$, the energy equality is not sufficient…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
In this paper, we investigate the asymptotic behaviors of the solutions of nonlinear dynamic systems nearby an equilibrium point, when the nominal parts are subject to non necessarily small perturbations. We show that, under some estimates…
In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…
For the $\mathfrak{so}(4)$ free rigid body the stability problem for the isolated equilibria has been completely solved using Lie-theoretical and topological arguments. For each case of nonlinear stability previously found we construct a…
State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is particularly challenging because their states (poses, strains, internal wrenches, and velocities) are inherently infinite-dimensional…
We consider the solution $u$ to the one-dimensional parabolic Anderson model with homogeneous initial condition $u(0, \cdot) \equiv 1$, arbitrary drift and a time-independent potential bounded from above. Under ergodicity and independence…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…