Related papers: Robust Input Shaping Control for Flexible Structur…
This study presents the analysis and design of a novel quasi-zero-stiffness (QZS) based vibration sensor system for measuring absolute displacement of vibrating platforms/objects. The sensor system is constructed by using positive and…
This study proposes a general, scalable method to learn control-oriented thermal models of buildings that could enable wide-scale deployment of cost-effective predictive controls. An Unscented Kalman Filter augmented for parameter and…
Supernumerary Robotic Limbs (SRLs) exhibit inherently compliant behavior due to the elasticity present at the intersection of human tissue and the robot. This compliance, can prominently influence the operation of some SRLs, depending on…
Optimal decision-making under partial observability requires reasoning about the uncertainty of the environment's hidden state. However, most reinforcement learning architectures handle partial observability with sequence models that have…
We present a novel filtering algorithm that employs Bayesian transfer learning to address the challenges posed by mismatched intensity of the noise in a pair of sensors, each of which tracks an object using a nonlinear dynamic system model.…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper presents a neural network-based Unscented Kalman Filter (UKF) to estimate and track the pose (i.e., position and orientation) of a known, noncooperative, tumbling target spacecraft in a close-proximity rendezvous scenario. The…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
In this paper, adaptive prescribed finite time stabilization of uncertain single-input and single-output nonlinear systems is considered in the presence of unknown states, unknown parameters, external load disturbance, and non-symmetric…
In this paper, we propose a scheme to eliminate the influence of noises on system dynamics, by means of a sequential unsharp measurements and unitary feedback operations. The unsharp measurements are carried out periodically during system…
Reliable estimation of contact forces is crucial for ensuring safe and precise interaction of robots with unstructured environments. However, accurate sensorless force estimation remains challenging due to inherent modeling errors and…
This paper presents a vision-based Unscented FastSLAM (UFastSLAM) algorithm combing the Rao-Blackwellized particle filter and Unscented Kalman filte(UKF). The landmarks are detected by a binocular vision to integrate localization and…
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…
We review optimization-based approaches to smoothing nonlinear dynamical systems. These approaches leverage the fact that the Extended Kalman Filter and corresponding smoother can be framed as the Gauss-Newton method for a nonlinear least…
In this article, we consider the implications of unobservable subspaces in the construction of a Kalman filter. In particular, we consider dynamical systems which are invariant with respect to a group action, and which are therefore…
The reliability and precision of dynamic database are vital for the optimal operating and global control of integrated energy systems. One of the effective ways to obtain the accurate states is state estimations. A novel robust dynamic…
In the field of sensor fusion and state estimation for object detection and localization, ensuring accurate tracking in dynamic environments poses significant challenges. Traditional methods like the Kalman Filter (KF) often fail when…
To control structural responses under various actions, the growing use of supplementary damping systems in modern civil engineering structures necessitates inspecting and evaluating their operational performance postinstallation. However,…
Industrial robots play a vital role in automatic production, which have been widely utilized in industrial production activities, like handling and welding. However, due to an uncalibrated robot with machining tolerance and assembly…
Stabilization, disturbance rejection, and control of optical beams and optical spots are ubiquitous problems that are crucial for the development of optical systems for ground and space telescopes, free-space optical communication…