Related papers: System Identification and Controller Design for Hy…
This paper presents an excitation operator based fault separation architecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss of effectiveness (LoE) faults, actuator aging, and load uncertainty. The actuator fault dynamics is…
As the landscape of devices that interact with the electrical grid expands, also the complexity of the scenarios that arise from these interactions increases. Validation methods and tools are typically domain specific and are designed to…
This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…
This work presents a control-oriented identification scheme for efficient control design and stability analysis of nonlinear systems. Neural networks are used to identify a discrete-time nonlinear state-space model to approximate…
Aircraft engine manufacturers collect large amount of engine related data during flights. These data are used to detect anomalies in the engines in order to help companies optimize their maintenance costs. This article introduces and…
We propose a synthesis method for the design of digital twins applicable to various systems (pneumatic, hydraulic, electrical/electronic circuits). The methodology allows representing the operation of these systems through an active digital…
Planning and extension of water distribution systems (WDSs) plays a key role in the development of smart cities, driven by challenges such as urbanization and climate change. In this context, the correct estimation of physically correct…
Nowadays, the active filters represent a viable alternative for controlling harmonic levels in industrial consumers electrical installations. It must be noted the availability of many different types of filter configurations that can be…
Uncertainty in state or model parameters is common in robotics and typically handled by acquiring system measurements that yield information about the uncertain quantities of interest. Inputs to a nonlinear dynamical system yield outcomes…
This paper studies the identification of nonlinearly parameterized control systems in given experiments. Several identifiability criteria are established and an implementable algorithm is proposed for practicality with the convergence rate…
One of the most fundamental characteristic of a complex system is its size (or volume), which, in many modelling, is represented by the number of its individual components. Complex systems under investigation nowadays are typically large…
This paper presents a data-driven algorithm for simultaneous system identification and parameter estimation in control-affine nonlinear systems. Parameter estimation is achieved by training a data-driven predictive model using state-action…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
In part II, an op-amp-based drive is proposed and designed. Subsequently, a very accurate model for the drive circuit and the current loop is developed as a simulation platform, while its simplified version is derived, tailored for…
We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically consistent inverse dynamics, contact and loop-closure…
We study identification of dynamic discrete choice models with hyperbolic discounting. We show that the standard discount factor, present bias factor, and instantaneous utility functions for the sophisticated agent are point-identified from…
Computer simulators are nowadays widely used to understand complex physical systems in many areas such as aerospace, renewable energy, climate modeling, and manufacturing. One fundamental issue in the study of computer simulators is known…
The high-pressure transportation process of pipeline necessitates an accurate hydraulic transient simulation tool to prevent slack line flow and over-pressure, which can endanger pipeline operations. However, current numerical solution…