Related papers: Extended State Observer for Localized Fault Awaren…
Model validity is key to the accurate and safe behavior of autonomous vehicles. Using invalid vehicle models in the different plan and control vehicle frameworks puts the stability of the vehicle, and thus its safety at stake. In this work,…
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…
The number of resident space objects is rising at an alarming rate. Mega-constellations and breakup events are proliferating in most orbital regimes, and safe navigation is becoming increasingly problematic. It is important to be able to…
Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…
The FLASH L-band (1.3 GHz) superconducting accelerator facility at DESY has a Low Level RF (LLRF) system that is similar to that envisioned for ILC. This system has extensive monitoring capability and was used to gather performance data…
High-power multi-beam klystrons represent a key component to amplify RF to generate the accelerating field of the superconducting radio frequency (SRF) cavities at European XFEL. Exchanging these high-power components takes time and effort,…
Estimating and detecting faults is crucial in ensuring safe and efficient automated systems. In the presence of disturbances, noise or varying system dynamics, such estimation is even more challenging. To address this challenge, this…
In this paper, we apply the recently developed generalized parameter estimation-based observer design technique for state-affine systems to the practically important case of linear time-varying descriptor systems with uncertain parameters.…
For a class of uncertain systems with large-error sensing, the low-order stable signal corrector and observer are presented for signal correction and uncertainty estimation according to completely decoupling estimation. The signal corrector…
Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by…
Vacuum fluctuations of quantum fields provide an unavoidable environment for any quantum system coupled to it. We study the interplay between boundary conditions and acceleration in determining decoherence of a two-level Unruh-DeWitt…
The internal state of a dynamical system, a set of variables that defines its evolving configuration, is often hidden and cannot be fully measured, posing a central challenge for real-time monitoring and control. While observers are…
We demonstrate how noise can be turned into an advantage for optical sensing using a nonlinear cavity. The cavity is driven by a continuous wave laser into the regime of optical bistability. Due to the influence of fluctuations, the cavity…
This paper addresses the observability analysis and the optimal design of observation parameters in the presence of noisy measurements and parametric uncertainties. The main underlying frameworks are the nonlinear constrained moving horizon…
Observer design typically requires the observability of the underlying system, which may be hard to verify for nonlinear systems, while guaranteeing asymptotic convergence of errors, which may be insufficient in order to satisfy performance…
This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
The space-charge driven envelope instability can be of great danger in high intensity accelerators. Linear accelerators were designed to avoid this instability by keeping the zero current phase advance per lattice period below 90 degrees.…
This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a continuous-time equivariant observer design problem on the…
Equivariance is a common and natural property of many nonlinear control systems, especially those associated with models of mechatronic and navigation systems. Such systems admit a symmetry, associated with the equivariance, that provides…
The goal of a LLRF system is to control an actual RF cavity with beam. While digital simulations have a place, having an analog circuit to stand in for the cavity can be tremendously helpful in validating hardware+firmware+software under…