Related papers: Parallel Multi-Extended State Observers based {ADR…
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external disturbances, and faults. The framework enables the…
This work considers the problem of detecting signals from multiple sequentially observed data streams, where only one stream can be observed at every time instant. The goal is to detect signals as quickly as possible while controlling the…
This paper presents EdgeLoc, an infrastructure-assisted, real-time localization system for autonomous driving that addresses the incompatibility between traditional localization methods and deep learning approaches. The system is built on…
We study the output feedback exponential stabilization for a 1-d wave PDE with dynamic boundary. With only one measurement, we construct an infinite-dimensional state observer to trace the state and design an estimated state based…
As an alternative to both classical PID-type and modern model-based approaches to solving control problems, active disturbance rejection control (ADRC) has gained significant traction in recent years. With its simple tuning method and…
Tacho-less rotational speed estimation is critical for vibration-based prognostics and health management (PHM) of rotating machinery, yet traditional methods--such as time-domain periodicity, cepstrum, and harmonic comb matching--struggle…
In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
A general model-based extended state observer (GMB-ESO) is proposed for single-input single-output linear time-invariant systems with a given state space model, where the total disturbance, a lump sum of model uncertainties and external…
Pseudo-arclength continuation is a well-established method for generating a numerical curve approximating the solution of an underdetermined system of nonlinear equations. It is an inherently sequential predictor-corrector method in which…
Observer-based methods are widely used to estimate the disturbances of different dynamic systems. However, a drawback of the conventional disturbance observers is that they all assume persistent excitation (PE) of the systems. As a result,…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
Based on equivalent-dynamic-linearization model (EDLM), we propose a kind of model predictive control (MPC) for single-input and single-output (SISO) nonlinear or linear systems. After compensating the EDLM with disturbance for…
In this paper, we uncover a new connection between standard PI/PID controllers and active disturbance rejection control (ADRC), from which we establish formal conditions of equivalence between the two control schemes. Using the equivalence,…
A rigid motion in $\mathbb{R}^d$ consists of a proper rotation and a translation, and it can be represented as a matrix in $\mathbb{R}^{(d+1)\times (d+1)}$. The problem of rigid motion synchronization aims to estimate a collection of rigid…
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 paper considers sequential adaptive estimation of sparse signals under a constraint on the total sensing effort. The advantage of adaptivity in this context is the ability to focus more resources on regions of space where signal…
Motivated by emerging technologies for energy efficient analog computing and continuous-time processing, this paper proposes continuous-time minimum mean squared error estimation for multiple-input multiple-output (MIMO) systems based on an…
In this work, we investigate two specific linear ADRC structures, namely output- and error-based. The former is considered a 'standard' version of ADRC, a title obtained primarily thanks to its simplicity and effectiveness, which have…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…