Related papers: System Identification and Controller Design for Hy…
Data-driven modeling and control of temperature dynamics in mechatronics systems and industrial processes are challenging control engineering problems. This is mainly because the temperature dynamics is inherently infinite-dimensional,…
A simulation environment of harbor maneuvers is critical for developing automatic berthing. Dynamic models are widely used to estimate harbor maneuvers. However, human decision-making and data analysis are necessary to derive, select, and…
We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal (non-causal)…
The problem of placing or selecting sensors and control nodes plays a pivotal role in the operation of dynamic networks. This paper proposes optimal algorithms and heuristics to solve the simultaneous sensor and actuator selection problem…
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…
This paper proposes a projection algorithm which can be employed to bound actuator signals, in terms of both magnitude and rate, for uncertain systems with redundant actuators. The investigated closed loop control system is assumed to…
We survey classical, machine learning, and data-driven system identification approaches to learn control-relevant and physics-informed models of dynamical systems. Recently, machine learning approaches have enabled system identification…
The goal of this article is twofold. Firstly, nonlinear system identification is introduced to a wide audience, guiding practicing engineers and newcomers in the field to a sound solution of their data driven modeling problems for nonlinear…
Faults related to hydrodynamic bearing can imply in high maintenance costs when late-detected and even to the total shutdown of the system. Thus, techniques of early fault diagnosis have high relevance to the reliability of rotating…
This paper presents a method for estimating parameters that form a general model for human pilot response for specific tasks. The human model is essential for the dynamic analysis of piloted vehicles. Data are generated on a simulator with…
Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous transitions. For example, a robot leg is able to exert very…
Online system identification algorithms are widely used for monitoring, diagnostics and control by continuously adapting to time-varying dynamics. Typically, these algorithms consider a model structure that lacks parsimony and offers…
The optimization of water distribution systems (WDSs) is vital to minimize energy costs required for their operations. A principal approach taken by researchers is identifying an optimal scheme for water pump controls through examining…
Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including…
This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…
Modern control-command systems often include controllers that perform nonlinear computations to control a physical system, which can typically be described by an hybrid automaton containing high-dimensional systems of nonlinear differential…
This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with low amount of data. Multi-output Gaussian…
In this paper, a controller design targeting the remotely operated hydraulic drive system is presented. A two-degrees-of-freedom PID position controller is used, which is designed so that to maximize the integral action under robust…