相关论文: Observability Conditions and Sensing Quality for U…
This paper is concerned with a characterization of the observability for a continuous-time hidden Markov model where the state evolves as a general continuous-time Markov process and the observation process is modeled as nonlinear function…
Some necessary and sufficient conditions are obtained for the controllability and observability of a networked system with linear time invariant (LTI) dynamics. The topology of this system is fixed but arbitrary, and every subsystem is…
Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…
Solution of Ordinary Differential Equation (ODE) model of dynamical system may not agree with its observed values. Often this discrepancy can be attributed to unmodeled forcings in the evolution rule of the dynamical system. In this…
In this work, we are interested in the controllability of Vlasov-Poisson systems in the presence of an external force field (namely a bounded force field or a magnetic field), by means of a local interior control. We are able to extend the…
In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…
This work develops a measurement-driven and model-based formal verification approach, applicable to systems with partly unknown dynamics. We provide a principled method, grounded on reachability analysis and on Bayesian inference, to…
We investigate how a weak constant force becomes detectable through fluctuations in anomalous transport in strongly heterogeneous media. Rather than focusing on the mean drift, we show that the key signature of the force appears in the…
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To…
Cooperative suspended aerial transportation is highly susceptible to multi-source disturbances such as aerodynamic effects and thrust uncertainties. To achieve precise load manipulation, existing methods often rely on extra sensors to…
Motion-sensorless control techniques of electrical drives are attracting more attention in different industries. The local observability of sensorless permanent magnet synchronous drives is studied in this paper. A special interest is given…
In this work, we show that a recently proposed method for experimental nonlinear modal analysis based on the extended periodic motion concept is well suited to extract modal properties for strongly nonlinear systems (i.e. in the presence of…
We present an exactly solvable nonlinear model for the directed motion of an object due to zero-mean fluctuations on a uniform featureless surface. Directed motion results from the effect of dry (Coulombic) friction coupled to asymmetric…
In this paper it is showed that if a time-varying uncertain system is robustly completely detectable then there exists an estimator for this system, i.e. we can estimate asymptotically the state vector of the system. Moreover, if a…
The concept of observability of linear systems initiated with Kalman in the mid 1950s. Roughly a decade later, the observability of nonlinear systems appeared. By such definitions a system is either observable or not. Continuous measures of…
Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…
Inspired by the wake-surfing nature of animals, this study aims to understand the aerodynamic force variation on a wing surfing in an unsteady 2-D wake. Wind tunnel experiments were conducted using Particle Image Velocimetry (PIV) and force…
We study controllability and observability concepts of tempered fractional linear systems in the Caputo sense. First, we formulate a solution for the class of tempered systems under investigation by means of the Laplace transform method.…
The noise-assisted, directed transport in a one-dimensional dissipative, inertial Brownian motor of the rocking type that is exposed to an external bias is investigated. We demonstrate that the velocity-load characteristics is distinctly…
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…