Related papers: An Improved Fractional-Order Active Disturbance Re…
The least-absolute shrinkage and selection operator (LASSO) is a regularization technique for estimating sparse signals of interest emerging in various applications and can be efficiently solved via the alternating direction method of…
This paper is concerned with the robust design for a class of switching systems from a fractional order control (FOC) perspective. In particular, the tuning of the robust fractional order PI (RFPI) controller is proposed based on phase…
This paper presents a data-integrated framework for learning the dynamics of fractional-order nonlinear systems in both discrete-time and continuous-time settings. The proposed framework consists of two main steps. In the first step,…
Obstacle avoidance enables autonomous agents and robots to operate safely and efficiently in dynamic and complex environments, reducing the risk of collisions and damage. For a robot or autonomous system to successfully navigate through…
Incremental Nonlinear Dynamic Inversion (INDI) control has attracted increasing research attention for it retains the high-performance of NDI and has enhanced robustness. However, when actual elements of the flight control system and…
Reset controllers have demonstrated their effectiveness in enhancing performance in precision motion systems. To further exploiting the potential of reset controllers, this study introduces a parallel-partial reset control structure.…
This paper proposes a robust design of the time-varying internal model principle-based control (TV-IMPC) for tracking sophisticated references generated by linear time-varying (LTV) autonomous systems. The existing TV-IMPC design usually…
In this correspondence, we propose a diversity-achieving retroreflector-based fine tracking system for free-space optical (FSO) communications. We show that multiple retroreflectors deployed around the communication telescope at the aerial…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
This paper proposes a novel Disturbance Observer, termed the High-Performance Disturbance Observer, which achieves more accurate disturbance estimation compared to the conventional disturbance observer, thereby delivering significant…
Distributed optimization is fundamental to modern machine learning applications like federated learning, but existing methods often struggle with ill-conditioned problems and face stability-versus-speed tradeoffs. We introduce fractional…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
This article presents an extended state observer for vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The extended state observer is applicable to a rotorcraft aerial vehicle with a fixed plane of…
This paper presents a fault-tolerant control scheme for constrained linear systems. First, a new variant of the Reference Governor (RG) called At Once Reference Governor (AORG) is introduced. The AORG is distinguished from the conventional…
In this paper, we study the information theoretic performance of the modified time-reversal maximum ratio combining (TR-MRC) receiver (presented in [9]) with the spatially averaged periodogram-based carrier frequency offset (CFO) estimator…
Inverse Optimal Control (IOC) is a powerful framework for learning a behaviour from observations of experts. The framework aims to identify the underlying cost function that the observed optimal trajectories (the experts' behaviour) are…
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…
Particle swarm optimization (PSO) is extensively used for real parameter optimization in diverse fields of study. This paper describes an application of PSO to the problem of designing a fractional-order proportional-integral-derivative…
This paper reviews research that studies the principle of self-support (PSS) in some control systems and proposes a fractional-order generalized PSS framework for the first time. The existing PSS approach focuses on practical tracking…
A new tuning rule is introduced for linear active disturbance rejection control (ADRC), which results in similar closed-loop dynamics as the commonly employed bandwidth parameterization design, but with lower feedback gains. In this manner…