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Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and…
In this paper, the parallel multi-extended state observers (ESOs) based active disturbance rejection control approach is proposed to achieve desired tracking performance by automatically selecting the estimation values leading to the least…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
Automatic chord recognition (ACR) extracts time-aligned chord labels from music audio recordings. Despite recent advances, ACR still struggles with oversegmentation, data scarcity, and imbalance, especially in recognizing complex chords…
Applications such as cloud gaming, video streaming, telemetry, ML inference, and data transfer provide a better experience when data is released at the receiver with timing reflecting how the data enters the sender. In practice, network…
Sparse Representation (or coding) based Classification (SRC) has gained great success in face recognition in recent years. However, SRC emphasizes the sparsity too much and overlooks the correlation information which has been demonstrated…
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
Safety-critical perception for unmanned aerial vehicles and rotating machinery requires microsecond-latency tracking of fast, periodic motion under egomotion and strong distractors. Frame-based and event-based trackers drift or break on…
This paper develops negative curvature methods for continuous nonlinear unconstrained optimization in stochastic settings, in which function, gradient, and Hessian information is available only through probabilistic oracles, i.e., oracles…
This work proposes a new adaptive-robust control (ARC) architecture for a class of uncertain Euler-Lagrange (EL) systems where the upper bound of the uncertainty satisfies linear in parameters (LIP) structure. Conventional ARC strategies…
In this work, we introduce the novel application of the adaptive mesh refinement (AMR) technique in the global stability analysis of incompressible flows. The design of an accurate mesh for transitional flows is crucial. Indeed, an…
We present ACAR (Adaptive Complexity and Attribution Routing), a measurement framework for studying multi-model orchestration under auditable conditions. ACAR uses self-consistency variance (sigma) computed from N=3 probe samples to route…
The deployment of multimodal models in high-stakes domains, such as self-driving vehicles and medical diagnostics, demands not only strong predictive performance but also reliable mechanisms for detecting failures. In this work, we address…
Deployed machine learning models should be updated to take advantage of a larger sample size to improve performance, as more data is gathered over time. Unfortunately, even when model updates improve aggregate metrics such as accuracy, they…
We develop a theory of evolutionary spectra for heteroskedasticity and autocorrelation robust (HAR) inference when the data may not satisfy second-order stationarity. Nonstationarity is a common feature of economic time series which may…
The goal of model reference adaptive control (MRAC) is to ensure that the trajectories of an unknown dynamical system track those of a given reference model. This is done by means of a feedback controller that adaptively changes its gains…
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…
A rigid motion in $\mathbb{R}^d$ consists of a proper rotation and a translation, and it can be represented as a matrix in $\mathbb{R}^{(d+1)\times (d+1)}$. The problem of rigid motion synchronization aims to estimate a collection of rigid…
This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…