Related papers: Optimal Take-off under Fuzzy Clearances
In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to…
The practical limitations and challenges of radio frequency (RF) based communication networks have become increasingly apparent over the past decade, leading researchers to seek new hybrid communication approaches. One promising strategy…
Continuous Descent Operations (CDO) involve smooth, idle-thrust descents that avoid level-offs, reducing fuel burn, emissions, and noise while improving efficiency and passenger comfort. Despite its operational and environmental benefits,…
Workflow decision making is critical to performing many practical workflow applications. Scheduling in edge-cloud environments can address the high complexity problem of workflow applications, while decreasing the data transmission delay…
AI-driven semi-autonomous robotic surgery is essential for addressing the medical challenges of long-duration interplanetary missions, where limited crew sizes and communication delays restrict traditional surgical approaches. Current…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopted approach is based on the sliding mode method to confer…
Safe Reinforcement Learning (RL) is crucial for achieving high performance while ensuring safety in real-world applications. However, the complex interplay of multiple uncertainty sources in real environments poses significant challenges…
One of the key challenges towards the deployment of over-the-air federated learning (AirFL) is the design of mechanisms that can comply with the power and bandwidth constraints of the shared channel, while causing minimum deterioration to…
The ability to engineer high-fidelity gates on quantum processors in the presence of systematic errors remains the primary barrier to achieving quantum advantage. Quantum optimal control methods have proven effective in experimentally…
This paper considers the linear objective function optimization with respect to a novel system of fuzzy relation equations, where the fuzzy compositions are defined by the minimum t-norm. It is proved that the feasible solution set is…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
In this paper, we study an optimal boundary control problem for a model for phase separation taking place in a spatial domain that was introduced by P. Podio-Guidugli in Ric. Mat. 55 (2006), pp. 105-118. The model consists of a strongly…
Efficient motion planning algorithms are essential in robotics. Optimizing essential parameters, such as batch size and nearest neighbor selection in sampling-based methods, can enhance performance in the planning process. However, existing…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
The significance of the automatic ground collision avoidance system (Auto-GCAS) has been proven by considering the fatal crashes that have occurred over decades. Even though extensive efforts have been put forth to address the ground…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
This paper presents a control algorithm for creating an artificial pancreas for type 1 diabetes, factoring in input saturation for a practical application. By utilizing the parallel distributed compensation and Takagi-Sugeno Fuzzy model, we…
Safe and accurate control of unmanned aerial vehicles in the presence of winds is a challenging control problem due to the hard-to-model and highly stochastic nature of the disturbance forces acting upon the vehicle. To meet performance…