Related papers: Parallel Multi-Extended State Observers based {ADR…
We propose an efficient solution to the state estimation problem in multi-scan multi-sensor multiple extended target sensing scenarios. We first model the measurement process by a doubly inhomogeneous-generalized shot noise Cox process and…
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only ensure accurate tracking of the target commands, but also…
Objective: We aimed to fuse the outputs of different electrocardiogram-derived respiration (EDR) algorithms to create one EDR signal that is of higher quality. Methods: We viewed each EDR algorithm as a software sensor that recorded…
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…
We propose a new method for the problem of controlling linear dynamical systems under partial observation and adversarial disturbances. Our new algorithm, Double Spectral Control (DSC), matches the best known regret guarantees while…
In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator…
We study synthetic aperture radar (SAR) imaging and motion estimation of complex scenes consisting of stationary and moving targets. We use the classic SAR setup with a single antenna emitting signals and receiving the echoes from the…
An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…
In target tracking with mobile multi-sensor systems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of…
The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking and stabilization performance. In this paper, first, computed torque model is generated to…
We consider a class of uncertain linear time-invariant overparametrized systems affected by bounded disturbances, which are described by a known exosystem with unknown initial conditions. For such systems an exponentially stable extended…
Distributionally Robust Optimization (DRO), which aims to find an optimal decision that minimizes the worst case cost over the ambiguity set of probability distribution, has been widely applied in diverse applications, e.g., network…
This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…
This article focuses on the problem of adaptive tracking control for a specific type of nonlinear system that is subject to full-state constraints via a hybrid event-triggered control (HETC) strategy. With the auxiliary system, we proposed…
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Recently, the EDCHO protocol leveraged high order sliding modes to achieve exact consensus under a…
Multi-stream sequential change detection involves simultaneously monitoring many streams of data and trying to detect when their distributions change, if at all. Here, we theoretically study multiple testing issues that arise from detecting…
Recent advances in robotics, automation, and artificial intelligence have enabled urban traffic systems to operate with increasing autonomy towards future smart cities, powered in part by the development of adaptive traffic signal control…
To eliminate the static error, overshoot, and vibration of the series elastic actuator (SEA) position control, the resonance ratio control (RRC) algorithm is improved based on L1 adaptive control(L1AC)method. Based on the analysis of the…
Reinforcement learning (RL) is a promising, upcoming topic in automatic control applications. Where classical control approaches require a priori system knowledge, data-driven control approaches like RL allow a model-free controller design…
We propose a parallel adaptive constraint-tightening approach to solve a linear model predictive control problem for discrete-time systems, based on inexact numerical optimization algorithms and operator splitting methods. The underlying…