Related papers: Extended State Observer for Localized Fault Awaren…
This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estimator estimates a stochastic effectiveness factor for every…
This work proposes a real-time anomaly detection scheme that leverages the multi-step ahead prediction capabilities of encoder-decoder (ED) deep learning models with recurrent units. Specifically, an encoder-decoder is used to model…
Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…
Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an…
This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses measurements from a…
The problem of designing a flux observer for magnetic field electromechanical systems from noise corrupted measurements of currents and voltages is addressed in this paper. Imposing a constraint on the systems magnetic energy function,…
In practical applications, the efficacy of a control algorithm relies critically on the accurate knowledge of the parameters and states of the underlying system. However, obtaining these quantities in practice is often challenging. Adaptive…
The growing penetration of renewable and distributed generation is transforming power systems and challenging conventional protection schemes that rely on fixed settings and local measurements. Machine learning (ML) offers a data-driven…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
The stringent requirements for the Deep Neural Networks (DNNs) accelerator's reliability stand along with the need for reducing the computational burden on the hardware platforms, i.e. reducing the energy consumption and execution time as…
In this paper we propose a novel observer-based method for anomaly detection in connected and automated vehicles (CAVs). The proposed method utilizes an augmented extended Kalman filter (AEKF) to smooth sensor readings of a CAV based on a…
This work deals with the problem of designing observers for the estimation of a single function of the states for discrete-time nonlinear systems. Necessary and sufficient conditions for the existence of lower order functional observers…
Quantifying frictional properties of interfaces remains a major challenge in both terrestrial and extraterrestrial geomechanics, where available samples, laboratory apparatuses, and geophysical observations are inherently limited. We…
Dynamical systems has a variety of applications for the new information generated during the time. Many phenomenons like physical, chemical or social are not static, then an analysis over the time is necessary. In this work, an experimental…
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…
A fixed-order set-valued observer is presented for linear parameter-varying systems with bounded-norm noise and under completely unknown attack signals, which simultaneously finds bounded sets of states and unknown inputs that include the…
Field emission is one of the key issues in superconducting RF for particle accelerators. When present, it limits operating gradient directly or via induced heat load at 2K. In order to minimize particulate contamination of and thus field…
This paper presents a conceptual approach to phase modulation of the cavity field in storage ring RF systems. An implementation of the concept on Dimtel low-level RF controllers is also presented. The method is illustrated with the test…
In this paper, a novel finite - time Nonlinear Extended State Observer (NLESO) is proposed and employed in Active Disturbance Rejection Control (ADRC) to stabilize a nonlinear system against system's uncertainties and discontinuous…