Related papers: Robust and fast backbone tracking via phase-locked…
We consider output-feedback stabilization problems for a class of two-component linear parabolic systems with boundary actuation and measurement. The state-feedback control laws are obtained using backstepping method and require measurement…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Modern fourth-generation storage ring light sources predominantly utilize digital I/Q-based proportional-integral (PI) feedback for their radio-frequency (RF) systems. This paper introduces a dedicated PI feedback model implemented in the…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
It remains a huge challenge to design effective and efficient trackers under complex scenarios, including occlusions, illumination changes and pose variations. To cope with this problem, a promising solution is to integrate the temporal…
We present a methodology for detecting non-linearities in data sets based on the characterization of the structural features of the Fourier phase maps. A Fourier phase map is a 2D set of points $M= \{(\phi_{\vec{k}}, \phi_{\vec{k} +…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
As foundation models become more popular, there is a growing need to efficiently finetune them for downstream tasks. Although numerous adaptation methods have been proposed, they are designed to be efficient only in terms of how many…
We consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a…
In recent years, the multiple-stage strategy has become a popular trend for visual tracking. This strategy first utilizes a base tracker to coarsely locate the target and then exploits a refinement module to obtain more accurate results.…
Efficient computation of all distinct solutions of nonlinear problems is essential in many scientific and engineering applications. Although high-order parallel iterative schemes offer fast convergence, their practical performance is often…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
This paper deals with the trajectory tracking control problem for a class of bilinear systems with unmeasurable states and unknown parameters. Firstly, a full-information controller is suggested that guarantees global tracking under a…
Visual object tracking aims to precisely estimate the bounding box for the given target, which is a challenging problem due to factors such as deformation and occlusion. Many recent trackers adopt the multiple-stage tracking strategy to…
In this paper, a framework for the combination of robust fractional order CRONE control with non-linear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
Phase-locked loops (PLLs) are now widely used in communication systems and have been a classic system for more than 60 years. Well-known mathematical models of such systems are constructed in a number of approximations, so questions about…