相关论文: Study of improving nano-contouring performance by …

The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…

Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve tracking accuracy, this paper proposes an adaptive…

The conventional circuit paradigm, utilizing a limited number of gates to construct arbitrary quantum circuits, is hindered by significant noise overhead. For instance, the standard gate paradigm employs two CNOT gates for the partial…

We propose a \textit{guided multi-fidelity Bayesian optimization} framework for data-efficient controller tuning that integrates corrected digital twin simulations with real-world measurements. The method targets closed-loop systems with…

This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…

This Letter proposes a rescaled adaptive coupling scheme for the synchronization of spatially extended systems. Coupling and synchronization are analyzed from the point view of image filter construction. A length rescaling technique is…

Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware…

In industrial defect segmentation tasks, while pixel accuracy and Intersection over Union (IoU) are commonly employed metrics to assess segmentation performance, the output consistency (also referred to equivalence) of the model is often…

This paper presents results and convergence study of the Global--Local Iterative Coupling through the implementation in the commercial software Abaqus making use of the co-simulation engine. A hierarchical modeling and simulation approach…

We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…

This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…

This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

We use Reinforcement Meta Learning to optimize an adaptive guidance system suitable for the approach phase of a gliding hypersonic vehicle. Adaptability is achieved by optimizing over a range of off-nominal flight conditions including…

This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…

According to the well-known loop shaping method for the design of controllers, the performance of the controllers in terms of step response, steady-state disturbance rejection and noise attenuation and robustness can be improved by…

We aim to improve the performance of multi-agent flocking behavior by quantifying the structural significance of each agent. We designed a confidence score(ConfScore) to measure the spatial significance of each agent. The score will be used…

Large-scale UAV switching formation tracking control has been widely applied in many fields such as search and rescue, cooperative transportation, and UAV light shows. In order to optimize the control performance and reduce the…

When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…

This paper presents a sensor-control method for choosing the best next state of the sensor(s), that provide(s) accurate estimation results in a multi-target tracking application. The proposed solution is formulated for a multi-Bernoulli…