Related papers: Feed-forward Disturbance Compensation for Station …
Floating offshore wind turbines allow wind energy to be harvested in deep waters. However, additional dynamics and structural loads may result when the floating platform is being excited by wind and waves. In this work, the conventional…
In this paper, robust control with sea state observer and dynamic thrust allocation is proposed for the Dynamic Positioning (DP) of an accommodation vessel in the presence of unknown hydrodynamic force variation and the input time delay. In…
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…
Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wave disturbances causing hazardous state perturbations.…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
We propose the feed-forward perturbation-based nonlinearity compensation method using the received signal, which outperforms conventional decision-based ones and eliminates the need for decision feedback. Additionally, combining half-half…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
Modern machine learning systems operating in dynamic environments often face \textit{sequential covariate shift} (SCS), where input distributions evolve over time while the conditional distribution remains stable. We introduce FADE…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which…
The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control…
State estimation has long been a fundamental problem in signal processing and control areas. The main challenge is to design filters with ability to reject or attenuate various disturbances. With the arrival of big data era, the…
Because they represent physical systems with propagation delays, hyperbolic systems are well suited for feedforward control. This is especially true when the delay between a disturbance and the output is larger than the control delay. In…
In this paper, a frequency separation based adaptive feedforward control algorithm is developed with the ability to identify the plant and do compensation region by region. In this algorithm, the accelerometer signal is filtered by a series…
Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
To address non-linear disturbances and uncertainties in complex marine environments, this paper proposes a disturbance-resistant controller for deep-sea cranes. The controller integrates hierarchical sliding mode control, adaptive control,…
Due to the use of huge number of sensors and the increasing use of communication networks, cyber-physical systems (CPS) are becoming vulnerable to cyber-attacks. The ever-increasing complexity of CPS bring up the need for data-driven…
There is a significant need for precise and reliable forecasting of the far-field noise emanating from shipping vessels. Conventional full-order models based on the Navier-Stokes equations are unsuitable, and sophisticated model reduction…