相关论文: High-bandwidth nonlinear control for soft actuator…

Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…

Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…

In this paper, performance evaluation of Newton-Raphson and Conjugate Gradient method has been studied in comparison to Steepest Decent method for coverage and connectivity control in backbone based wireless networks. In order to design…

This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…

This paper addresses the offset-free tracking problem for nonlinear systems described by a class of recurrent neural networks (RNNs). To compensate for constant disturbances and guarantee offset-free tracking in the presence of model-plant…

This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…

Spiking Neural Networks (SNNs) have become popular for their more bio-realistic behavior than Artificial Neural Networks (ANNs). However, effectively leveraging the intrinsic, unstructured sparsity of SNNs in hardware is challenging,…

Future wireless networks may operate at millimeter-wave (mmW) and sub-terahertz (sub-THz) frequencies to enable high data rate requirements. While large antenna arrays are critical for reliable communications at mmW and sub-THz bands, these…

This paper proposes recurrent neuron networks (RNNs) for a fingerprinting indoor localization using WiFi. Instead of locating user's position one at a time as in the cases of conventional algorithms, our RNN solution aims at trajectory…

Recurrent neural networks can be large and compute-intensive, yet many applications that benefit from RNNs run on small devices with very limited compute and storage capabilities while still having run-time constraints. As a result, there…

The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…

Soft robotic crawlers are mobile robots that utilize soft body deformability and compliance to achieve locomotion through surface contact. Designing control strategies for such systems is challenging due to model inaccuracies, sensor noise,…

While linear attention architectures offer efficient inference, compressing unbounded history into a fixed-size memory inherently limits expressivity and causes information loss. To address this limitation, we introduce Random Access Memory…

The present paper develops recursive algorithms to track shifts in the resonance frequency of linear systems in real time. To date, automatic resonance tracking has been limited to non-model-based approaches, which rely solely on the phase…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

Neural networks are regularly employed in adaptive control of nonlinear systems and related methods of reinforcement learning. A common architecture uses a neural network with a single hidden layer (i.e. a shallow network), in which the…

This work develops a robust diffusion recursive least squares algorithm to mitigate the performance degradation often experienced in networks of agents in the presence of impulsive noise. This algorithm minimizes an exponentially weighted…

Neural network controllers increasingly demand millions of parameters, and language model approaches push into the billions. For embedded aerospace systems with strict power and latency constraints, this scaling is prohibitive. We present…

In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…

Recurrent Neural Networks (RNNs) are popular models of brain function. The typical training strategy is to adjust their input-output behavior so that it matches that of the biological circuit of interest. Even though this strategy ensures…