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This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…
A posteriori error estimates are an important tool to bound discretization errors in terms of computable quantities avoiding regularity conditions that are often difficult to establish. For non-linear and non-differentiable problems,…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
Computer simulators are nowadays widely used to understand complex physical systems in many areas such as aerospace, renewable energy, climate modeling, and manufacturing. One fundamental issue in the study of computer simulators is known…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
Many sources of errors exist in the manufacturing process of complex shapes. Some approximations occur at each step from the design geometry to the machined part. The aim of the paper is to present a method to evaluate the effect of high…
In this paper, we study the well-posedness and approximate controllability of a class of network systems having delays and controls at the boundary conditions. The particularity of this work is that the network system is defined on infinite…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…
In the domain of rotating machinery, bearings are vulnerable to different mechanical faults, including ball, inner, and outer race faults. Various techniques can be used in condition-based monitoring, from classical signal analysis to deep…
We develop a Bayesian approach called Bayesian projected calibration to address the problem of calibrating an imperfect computer model using observational data from a complex physical system. The calibration parameter and the physical…
We study the accuracy of triangulation in multi-camera systems with respect to the number of cameras. We show that, under certain conditions, the optimal achievable reconstruction error decays quadratically as more cameras are added to the…
Model Predictive Control (MPC) can efficiently control constrained systems in real-time applications. MPC feedback law for a linear system with linear inequality constraints can be explicitly computed off-line, which results in an off-line…
Applying linear controllers to nonlinear systems requires the dynamical linearization about a reference. In highly nonlinear environments such as cislunar space, the region of validity for these linearizations varies widely and can…
The numerical approximation of convection-dominated problems continues to remain subject of strong interest. Families of stabilization techniques for finite element methods were developed in the past. Adaptive techniques based on a…
Digital controllers have several advantages with respect to their flexibility and design's simplicity. However, they are subject to problems that are not faced by analog controllers. In particular, these problems are related to the finite…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
In this paper, we consider optimal control problems derived by stochastic systems with delay, where control domains are non-convex and the diffusion coefficients depend on control variables. By an estimate of the integral of…