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The aim of this work is to compute a level backstepping control strategy for a coupled tanks system. The coupled tanks plant is a component included in the water treatment system of power plants. The nonlinear-model of the process was…
A VecTwin rudder system comprises twin fishtail rudders with reaction fins to increase its performance. With a constant propeller revolution number, the vessel can execute special low-speed maneuvers like hover, crabbing, reverse, and…
A refined a priori error analysis of the lowest order (linear) nonconforming Virtual Element Method (VEM) for approximating a model Poisson problem is developed in both 2D and 3D. A set of new geometric assumptions is proposed on shape…
In this paper, we present a novel learning-based shared control framework. This framework deploys first-order Dynamical Systems (DS) as motion generators providing the desired reference motion, and a Variable Stiffness Dynamical Systems…
While for coupled hyperbolic PDEs of first order there now exist numerous PDE backstepping designs, systems with zero speed, i.e., without convection but involving infinite-dimensional ODEs, which arise in many applications, from…
This paper considers the problem of designing a continuous-time dynamical system that solves a constrained nonlinear optimization problem and makes the feasible set forward invariant and asymptotically stable. The invariance of the feasible…
In this paper, we present output feedback boundary stabilization for a class of semilinear parabolic PDEs with a boundary measurement and an actuation located at the same place. The method uses backstepping transformations, where the state…
Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
We describe a novel framework for estimating subsurface properties, such as rock permeability and porosity, from time-lapse observed seismic data by coupling full-waveform inversion, subsurface flow processes, and rock physics models. For…
We propose a framework for inversion-based estimation of certain categories of faults in discrete-time linear systems. The fault signal, as an unknown input, is reconstructed from its projections onto two subspaces. One projection is…
This paper develops a control and estimation design for the one-phase Stefan problem. The Stefan problem represents a liquid-solid phase transition as time evolution of a temperature profile in a liquid-solid material and its moving…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Dynamic voltage scaling (DVS) is one of the most effective techniques for reducing energy consumption in embedded and real-time systems. However, traditional DVS algorithms have inherent limitations on their capability in energy saving…
This paper concerns feedback stabilization of point vortex equilibria above an inclined thin plate and a three-plate configuration known as the Kasper Wing in the presence of an oncoming uniform flow. The flow is assumed to be potential and…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
The growing focus on reducing energy consumption, particularly in electric vehicles with limited autonomy, has prompted innovative solutions. In this context, we propose a real-time flap-based control system aimed at improving aerodynamic…
Vehicular edge computing (VEC) is an emerging technology that enables vehicles to perform high-intensity tasks by executing tasks locally or offloading them to nearby edge devices. However, obstacles such as buildings may degrade the…
Reversible control of surface wettability has wide applications in lab-on-chip systems, tunable optical lenses, and microfluidic tools. Using a graphene sheet as a sample material and molecular dynamic (MD) simulations, we demonstrate that…