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The paper describes an electronic multiprocessor system that assures functionality of a miniature UAV capable of 3D flying. The apparatus consists of six independently controlled brushless DC motors, each having a propeller attached to it.…
Modern non-linear model-based controllers require an accurate physics model and model parameters to be able to control mobile robots at their limits. Also, due to surface slipping at high speeds, the friction parameters may continually…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
Telepresence is a necessity for present time as we can't reach everywhere and also it is useful in saving human life at dangerous places. A robot, which could be controlled from a distant location, can solve these problems. This could be…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
This work presents a modular, Python-based simulator that simplifies the evaluation of novel vehicle control and coordination algorithms in complex traffic scenarios while keeping the implementation overhead low. It allows researchers to…
Phase recognition in surgical videos is crucial for enhancing computer-aided surgical systems as it enables automated understanding of sequential procedural stages. Existing methods often rely on fixed temporal windows for video analysis to…
Designing of microprocessor based controllers requires specific hardware as well as software programming. Programming depends upon type of the software whether operating software or application software. Programming requires knowledge of…
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manual and visual inspection tasks by human experts. As the…
A PC based high speed silicon microstrip beam telescope consisting of several independent modules is presented. Every module contains an AC-coupled double sided silicon microstrip sensor and a complete set of analog and digital signal…
Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…
Precise handling of chemical instruments and materials within a self-driving laboratory environment using robotic systems demands advanced and reliable control strategies. Sliding Mode Control (SMC) has emerged as a robust approach for…
This paper describes a wearable wireless mouse-cursor controller that optically tracks the degree of tilt of the user's head to move the mouse relative distances and therefore the degrees of tilt. The raw data can be processed locally on…
Stability is arguably one of the core concepts upon which our understanding of dynamical and control systems has been built. The related notion of incremental stability, however, has received much less attention until recently, when it was…
The controllability problem for nonlinear control systems with one-dimensional control of the form $ dx/dt=a(x)+B(x)\beta(x,u)$ is considered, where $a(x)$ is an $n$-dimensional vector function, $B(x)$ is an $(n\times m)$-matrix, and…
Model predictive path integral (MPPI) is a sampling-based method for solving complex model predictive control (MPC) problems, but its real-time implementation faces two key challenges: the computational cost and sample requirements grow…
Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational limits and meets operational constraints such as limited track…
This paper presents a systematic method for the selection of the Model Predictive Control (MPC) stage cost. We match the MPC feedback law to a proportional-integral (PI) controller, which we efficiently tune by high-performance Monte Carlo…