相关论文: Low-Cost Throttle-By-Wire-System Architecture For …
Wireless sensors and actuators offer benefits to large industrial control systems. The absence of wires for communication reduces the deployment cost, maintenance effort, and provides greater flexibility for sensor and actuator location and…
Most Internet-of-Things (IoT) devices and smart sensors are connected via the Internet using IP communication driectly accessed by a server that collect sensor information periodically or event-based. Although, Internet access is widely…
Advances in wireless sensor network (WSN) technology have provided the availability of small and low-cost sensor with capability of sensing various types of physical and environmental conditions, data processing, and wireless communication.…
The stochastic nature of public transport systems leads to headway variability and bus bunching, causing both operator and passenger cost to increase significantly. Traditional strategies to counter bus bunching, including bus-holding,…
This study investigates the low-frequency dynamics of a turbulent separation bubble (TSB) over a backward-facing ramp, with a focus on large-scale coherent structures associated with the so-called 'breathing motion'. Using time-resolved…
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…
Minimum-fuel low-thrust rendezvous guidance yields bang-bang control structures highly sensitive to estimation errors, sensor anomalies, and solver regularization, making aggressive closed-loop execution brittle for uncooperative proximity…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
A fundamental concern in progressing Airborne Wind Energy (AWE) operations towards commercial success, is guaranteeing that safety requirements placed on the systems are met. Due to the high dimensional complexity of AWE systems, however,…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
This paper details the implementation of a two stage underactuated control law for a CubeSat to reduce all angular rates to zero. This CubeSat has a diagonal inertia matrix where the principal axes of inertia are not equal. This is needed…
Even though Truck Mounted Attenuators (TMA)/Autonomous Truck Mounted Attenuators (ATMA) and traffic control devices are increasingly used in mobile work zones to enhance safety, work zone collisions remain a significant safety concern in…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
A two-wheeled self-balancing robot (TWSBR) is non-linear and unstable system. This study compares the performance of model-based and data-based control strategies for TWSBRs, with an explicit practical educational approach. Model-based…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a…
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aerial vehicle (FWAV).…
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…
The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…