相关论文: A novel Algorithm for Hydrostatic-mechanical Mobil…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
We introduce a variation of the dissipative particle dynamics (DPD) thermostat that allows for controlling transport properties of molecular fluids. The standard DPD thermostat acts only on a relative velocity along the interatomic axis.…
A transportation digital twin represents a digital version of a transportation physical object or process, such as a traffic signal controller, and thereby a two-way real-time data exchange between the physical twin and digital twin. This…
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…
Multi-speed transmissions can enhance the performance and reduce the overall cost of an electric vehicle, but they also introduce a challenge: avoiding gearshift jerk, which may sometimes prove to be impossible in the presence of motor and…
Future wireless networks will be characterized by heterogeneous traffic requirements. Such requirements can be low-latency or minimum-throughput. Therefore, the network has to adjust to different needs. Usually, users with low-latency…
Machine learning (ML) has entered the mobile era where an enormous number of ML models are deployed on edge devices. However, running common ML models on edge devices continuously may generate excessive heat from the computation, forcing…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots.…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
In this paper, we investigate conventional communication-based chaotic waveforms in the context of wireless power transfer (WPT). Particularly, we present a differential chaos shift keying (DCSK)-based WPT architecture, that employs an…
A properly designed controller can help improve the quality of experimental measurements or force a dynamical system to follow a completely new time-evolution path. Recent developments in deep reinforcement learning have made steep advances…
Active suspension systems are critical for enhancing vehicle comfort, safety, and stability, yet their performance is often limited by fixed hardware designs and control strategies that cannot adapt to uncertain and dynamic operating…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
Lane-changing (LC) is a challenging scenario for connected and automated vehicles (CAVs) because of the complex dynamics and high uncertainty of the traffic environment. This challenge can be handled by deep reinforcement learning (DRL)…
Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
This paper solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust-adaptive control strategy. The developed controller compensates for the uncertainty in the control…