相关论文: Mu-synthesis PID Control of Full-Car with Parallel…

Bin picking systems in factory automation usually face robustness issues caused by sparse and noisy 3D data of metallic objects. Utilizing multiple views, especially with a one-shot 3D sensor and "sensor on hand" configuration is getting…

This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…

Multiparty session types (MPST) provide a rigorous foundation for verifying the safety and liveness of concurrent systems. However, existing approaches often force a difficult trade-off: classical, projection-based techniques are…

This paper studies the finite-horizon robust optimal control of constrained linear systems subject to model mismatch and additive stochastic disturbances. Utilizing the system level synthesis (SLS) parameterization, we propose a novel SLS…

This paper introduces a new grid-forming control for power converters, termed hybrid angle control (HAC) that ensures the almost global closed-loop stability. HAC combines the recently proposed matching control with a novel nonlinear angle…

Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…

Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…

The design of Proportional Integral-Derivative (PID) controller is involved to gain infinite stiffness using active vibration control system and it is a modification of previous work. The PID controller is a control loop feedback mechanism…

Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…

Advanced driving-assistance systems (ADAS) are intended to automatize driver tasks, as well as improve driving and vehicle safety. This work proposes an intelligent neuro-fuzzy sensor for driving style (DS) recognition, suitable for ADAS…

This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…

This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chamber pressure and tire-ground contact force is developed,…

Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…

This paper presents VIMPPI, a novel control approach for underactuated double pendulum systems developed for the AI Olympics competition. We enhance the Model Predictive Path Integral framework by incorporating variational integration…

This paper introduces a physics enhanced residual learning (PERL) framework for connected and automated vehicle (CAV) platoon control, addressing the dynamics and unpredictability inherent to platoon systems. The framework first develops a…

The growing focus on reducing energy consumption, particularly in electric vehicles with limited autonomy, has prompted innovative solutions. In this context, we propose a real-time flap-based control system aimed at improving aerodynamic…

An innovative strategy for the design of low-profile wide-angle impedance matching (WAIM) superstrates to active return loss (ARL) stability of scanned microstrip-printed periodic phased arrays (PPAs) is presented. Towards this end, an…

The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…

This brief constructs the adaptive backstepping control scheme for a class of pure-feedback systems with input delay and full state constraints. With the help of Mean Value Theorem, the pure-feedback system is transformed into…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…