Related papers: Active Sidestick Control Integration for Enhanced …
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
This paper investigates the performance of multi-user covert communications over a fixed bandwidth in a multi-cell scenario with both eavesdroppers and malicious jammers. We propose an intelligent spectrum control (ISC) scheme that combines…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
This paper introduces a flight envelope protection algorithm on a longitudinal axis that leverages reinforcement learning (RL). By considering limits on variables such as angle of attack, load factor, and pitch rate, the algorithm…
This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appropriate constraints for the system objectives. A method for…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
This paper theoretically investigates the closed-loop performance of active disturbance rejection control (ADRC) on a third-order linear plant with relative degree 3, subject to a class of exogenous disturbances. While PID control cannot be…
Face masks provide effective, easy-to-use, and low-cost protection against airborne pathogens or infectious agents, including SARS-CoV-2. There is a wide variety of face masks available on the market for various applications, but they are…
This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially…
Complex autonomous driving, such as drifting, requires high-precision and high-frequency pose information to ensure accuracy and safety, which is notably difficult when using only onboard sensors. In this paper, we propose a drift…
Active learning is a subfield of machine learning that is devised for design and modeling of systems with highly expensive sampling costs. Industrial and engineering systems are generally subject to physics constraints that may induce fatal…
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…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
In this paper we investigate the design of an active fault tolerant control system applicable to autonomous flight. The system comprises a nonlinear model predictive based controller integrated with an unscented Kalman filter for fault…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
A fully dynamic three-layer active constrained layer (ACL) beam is modeled for cantilevered boundary conditions by using a thorough variational approach. The Rao-Nakra thin compliant layer assumptions are adopted to model the sandwich…
In critical software engineering, structured assurance cases (ACs) are used to demonstrate how key system properties are supported by evidence (e.g., test results, proofs). Creating rigorous ACs is particularly challenging in the context of…
Over-the-air computation (AirComp) enables fast data aggregation for edge intelligence applications. However the performance of AirComp can be severely degraded by channel misalignments. Pinching antenna systems (PASS) have recently emerged…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…