相关论文: PIDA: Smooth and Stable Flight Using Stochastic Du…
Stochastic Gradient Descent (SGD) and its momentum variants form the backbone of deep learning optimization, yet the underlying dynamics of their gradient behavior remain insufficiently understood. In this work, we reinterpret gradient…
This paper employs Geometric Algebra (GA) tools to model the dynamics of objects in 3-dimensional space, serving as a proof of concept to facilitate control design for trajectory tracking in underactuated systems. For control purposes, the…
The PID controller parameters can be adjusted in such a manner that it gives the desired frequency response and the results are found using the Bodes integral formula in order to adjust the slope of the nyquist curve in a desired manner.…
This study presents a sampling-based method to guarantee robust stability of general control systems with uncertainty. The method allows the system dynamics and controllers to be represented by various data-driven models, such as Gaussian…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
We study feature selection in high-dimensional regression under two distinct sources of instability: sampling variability and measurement error in the design matrix. Stability Selection addresses the former through sub-sampling and…
This paper presents the analysis of the stability properties of PID controllers for dynamical systems with multiple state delays, focusing on the mathematical characterization of the potential sensitivity of stability with respect to…
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, into an over-actuated flight structure with improved dynamic…
The original Grover's algorithm has a success probability to output a correct solution, while deterministic Grover's algorithms improve the success probability to 100%. However, the success probability of deterministic Grover's algorithm…
Assuring safety in discrete time stochastic hybrid systems is particularly difficult when only noisy or incomplete observations of the state are available. We first review a formulation of the probabilistic safety problem under noisy hybrid…
The purpose of this paper is to present the control system design of Tricopter. We have presented the implementation of control system in software in this paper. Tricopter's control system mainly consists of two parts Complimentary filter…
This paper proposes the ProxFly, a residual deep Reinforcement Learning (RL)-based controller for close proximity quadcopter flight. Specifically, we design a residual module on top of a cascaded controller (denoted as basic controller) to…
A hybrid (i.e., physics-guided data-driven) feedforward tracking controller is proposed for systems with unmodeled linear or nonlinear dynamics. The controller is based on the filtered basis function (FBF) approach, hence it is called a…
Flight dynamics involve uncertainties in parameters, aerodynamic derivatives, and engine thrust. These uncertainties can be categorized into three types: known-predictable, known-unpredictable, and unknown. While advanced control systems…
Control of the stochastic dynamics of a quantum system is indispensable in fields such as quantum information processing and metrology. However, there is no general ready-made approach to the design of efficient control strategies. Here, we…
Multi-wing chaotic attractors are highly complex nonlinear dynamical systems with higher number of index-2 equilibrium points. Due to the presence of several equilibrium points, randomness of the state time series for these multi-wing…
A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The…
Local SGD is a promising approach to overcome the communication overhead in distributed learning by reducing the synchronization frequency among worker nodes. Despite the recent theoretical advances of local SGD in empirical risk…
Natural disasters, such as hurricanes and typhoons, pose significant challenges to public safety and infrastructure. While government agencies rely on multi million dollar UAV systems for storm data collection and disaster response, smaller…
The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…