Related papers: PCT-Based Trajectory Tracking for Underactuated Ma…
Object tracking is an important functionality of edge video analytic systems and services. Multi-object tracking (MOT) detects the moving objects and tracks their locations frame by frame as real scenes are being captured into a video.…
Controlling large populations of thermostatically controlled loads (TCLs), such as water heaters, poses significant challenges due to the need to balance global constraints (e.g., grid stability) with individual requirements (e.g., physical…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
The optimal transport problem for measures supported on non-Euclidean spaces has recently gained ample interest in diverse applications involving representation learning. In this paper, we focus on circular probability measures, i.e.,…
We present Contingency Model Predictive Control (CMPC), a novel and implementable control framework which tracks a desired path while simultaneously maintaining a contingency plan -- an alternate trajectory to avert an identified potential…
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential…
This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…
Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in…
This paper proposes an adaptive tube-based nonlinear model predictive control (AT-NMPC) approach to the design of autonomous cruise control (ACC) systems. The proposed method utilizes two separate models to define the constrained receding…
This work addresses the control and navigation of a simulated two-dimensional electric rocket. The model provides a simplified framework that neglects actuator dynamics and aerodynamic effects while capturing the complexities of…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the…
This paper deals with the trajectory tracking control problem for a class of bilinear systems with unmeasurable states and unknown parameters. Firstly, a full-information controller is suggested that guarantees global tracking under a…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Proximity operations of rigid bodies, such as spacecraft rendezvous and docking, require precise tracking of both position and attitude over finite time intervals. These operations are often repeated under uncertain conditions, with unknown…
Port-Hamiltonian systems (PHS) and interconnection and damping assignment passivity-based control (IDA-PBC) have achieved broad success in modelling and stabilisation of physical systems. However, the absence of a dedicated scalar potential…
The state of polarization and the carrier phase drift dynamically during transmission in a random fashion in coherent optical fiber communications. The typical digital signal processing solution to mitigate these impairments consists of two…
Hybrid Opto-electronic correlators (HOC) overcome many limitations of all-optical correlators (AOC) while maintaining high-speed operation. However, neither the OEC nor the AOC in their conventional configurations can detect targets that…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
Nonlinear receding horizon model predictive control is a powerful approach to controlling nonlinear dynamical systems. However, typical approaches that use the Jacobian, adjoint, and forward-backward passes may lose fidelity and efficacy…