Related papers: A physics-guided data-driven feedforward tracking …
Finite abstractions (a.k.a. symbolic models) offer an effective scheme for approximating the complex continuous-space systems with simpler models in the discrete-space domain. A crucial aspect, however, is to establish a formal relation…
We study adaptive fault tolerant tracking control for uncertain linear systems. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we develop a low-complexity model-free controller which achieves prescribed…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
Flexible-joint manipulators are frequently used for increased safety during human-robot collaboration and shared workspace tasks. However, joint flexibility significantly reduces the accuracy of motion, especially at high velocities and…
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
The performance of a feedforward controller is primarily determined by the extent to which it can capture the relevant dynamics of a system. The aim of this paper is to develop an input-output linear parameter-varying (LPV) feedforward…
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To…
This paper introduces a Data-Fused Model Predictive Control (DFMPC) framework that combines physics-based models with data-driven representations of unknown dynamics. Leveraging Willems' Fundamental Lemma and an artificial equilibrium…
In the pursuit of further advancement in the field of target tracking, this paper explores the efficacy of a feedforward neural network in predicting drones tracks, aiming to eventually, compare the tracks created by the well-known Kalman…
Tracking control for soft robots is challenging due to uncertainties in the system model and environment. Using high feedback gains to overcome this issue results in an increasing stiffness that clearly destroys the inherent safety property…
Image fusion aims to integrate complementary information from multiple input images acquired through various sources to synthesize a new fused image. Existing methods usually employ distinct constraint designs tailored to specific scenes,…
This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…
Redundant cascade manipulators actuated by pneumatic bellows actuators are passively compliant, rugged and dexterous which are qualities making them exceptionally well suited for applications in agriculture. Unfortunately bellows actuators…
Electromechanical switching devices such as relays, solenoid valves, and contactors offer several technical and economic advantages that make them widely used in industry. However, uncontrolled operations result in undesirable…
The primary purpose of this article is to accomplish safe grasping task by means of dual one-link flexible manipulators. In order to design a force-sensor-less force control, the direct force control problem is reduced to common motion…
With the increased availability of condition monitoring data and the increased complexity of explicit system physics-based models, the application of data-driven approaches for fault detection and isolation has recently grown. While…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
The Front-Tracking Method (FTM) is a promising approach for numerical solution of multiphase flows, considering a trade-off between accuracy and computational cost. The existing open-source open-access software for FTM is scarce, due to…