相关论文: Enhancing the Reliability of Closed-Loop Describin…
Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…
This work proposes a control-informed reinforcement learning (CIRL) framework that integrates proportional-integral-derivative (PID) control components into the architecture of deep reinforcement learning (RL) policies. The proposed…
This note proposes a data-driven output-feedback stabilizing policy iteration for unknown linear discrete-time systems with unmeasurable states. Existing policy iteration methods for optimal control must start from a stabilizing control…
The synthetic control method (SCM) is a widely used tool for evaluating causal effects of policy changes in panel data settings. Recent studies have extended its framework to accommodate complex outcomes that take values in metric spaces,…
Neural Signed Distance Fields (SDFs) provide a differentiable environment representation to readily obtain collision checks and well-defined gradients for robot navigation tasks. However, updating neural SDFs as the scene evolves entails…
In this paper, we propose a novel pulse shaping design for single-carrier integrated sensing and communication (ISAC) transmission. Due to the communication information embedded in the ISAC signal, the resulting auto-correlation function…
This paper investigates the accuracy of bootstrap-based inference in the case of long memory fractionally integrated processes. The re-sampling method is based on the semi-parametric sieve approach, whereby the dynamics in the process used…
This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisting of a circular body rolling without slip along a…
A feature-mapping framework for inverse reconstruction of density-based topology optimization results is proposed. Unlike SIMP, whose voxelized outputs are hard to interpret or reuse, the method represents designs with high-level geometric…
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…
We present a model-based approach for the closed-loop control of vortex shedding in the cylinder wake. The control objective is to suppress the unsteadiness of the flow, which arises at a critical Reynolds number $Re_c$ through a…
PID controllers are widely used in control systems because of their simplicity and effectiveness. Although advanced optimization techniques such as Bayesian Optimization and Differential Evolution have been applied to address the challenges…
Proportional-Integral-Differential (PID) control is widely used in industrial control systems. However, up to now there are at least two open problems related with PID control. One is to have a comprehensive understanding of its robustness…
Impedance models are widely used in assessing small signal stability of grid-tied voltage source converter (VSC) systems. Recent research has proven that impedance models of grid-tied VSC in both dq and sequence domains are generally…
To address the limitations imposed by Bode's gain-phase relationship in linear controllers, a reset-based filter called the Constant in gain- Lead in phase (CgLp) filter has been introduced. This filter consists of a reset element and a…
This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…
This paper addresses simultaneous, high-precision measurement and analysis of generic reference signals by using inexpensive commercial off-the-shelf Software Defined Radio hardware. Sine reference signals are digitally down-converted to…
Fluid-Structure Interaction (FSI) can be investigated by means of non-linear Finite Element Models (FEM), suitable to capture large deflections of structural parts interacting with fluids, and Computational Fluid Dynamics (CFD). High…
Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve tracking accuracy, this paper proposes an adaptive…
Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the stability problem of a…