Related papers: Position Sensing Errors in Synchronous Motor Drive…
Compact, ultra-high-speed self-bearing permanent-magnet motors enable a wide scope of applications including an increasing number of optical ones. For implementation in an optical setup the rotors have to satisfy high demands regarding…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
The global attitude synchronization problem is studied for networked rigid bodies under directed topologies. To avoid the asynchronous pitfall where only vector parts converge to some identical value but scalar parts do not, multiplicative…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Dynamic stability is imperative for the operation of the electric power system. This article provides analytical results and effective stability criteria focusing on the interplay of network structures and the local dynamics of synchronous…
This paper investigates the performance of a microgrid with droop-controlled inverters in terms of the total power losses incurred in maintaining synchrony under persistent small disturbances. The inverters are modeled with variable…
This paper addresses the problem of domain shifts in electric motor vibration data created by new operating conditions in testing scenarios, focusing on bearing fault detection and diagnosis (FDD). The proposed method combines the Harmonic…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
Many real-world systems are governed by the time-dependent, nonlinear differential equations. Dynamics of an electrical system are also best described using the very equations. Being one of the preferred machines when using advanced control…
In this work, we present a mixed sensorless strategy for Permanent Magnets Synchronous Machines, combining a torque/current controller and an observer for position, speed, flux and stator resistance. The proposed co-design is motivated by…
To reduce the contour error of the end-effector of a robotic manipulator during trajectory tracking, a dual-mode synchronization predictive control is proposed. Firstly, the dynamic model of n-DoF robotic manipulator is discretized by using…
We attempt to achieve isochronal synchronization between a drive system unidirectionally coupled to a response system, under the assumption that limited knowledge on the states of the drive is available at the response. Machine learning…
We consider perception-based control using state estimates that are obtained from high-dimensional sensor measurements via learning-enabled perception maps. However, these perception maps are not perfect and result in state estimation…
We focus on the problem of timing errors in navigation camera as a case study in a broader problem of the effect of a timing error in cyber-physical systems. These systems rely on the requirement that certain things happen at the same time…
In this paper we analyze the probability of consistency of sensor data distribution systems (SDDS), and determine suitable evaluation models. This problem is typically difficult, since a reliable model taking into account all parameters and…
This paper investigates the practical engineering problem of traffic sensors placement on stretched highways with ramps. Since it is virtually impossible to install bulky traffic sensors on each highway segment, it is crucial to find…
Large-scale integration of inverter-based resources into power grids worldwide is challenging their stability and security. This paper takes a closer look at synchronous condensers as a solution to mitigate stability challenges caused by…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…