相关论文: Maneuvering-based Dynamic Thrust Allocation for Fu…

For additive actuator and sensor faults, we propose a systematic method to design a state-space fault estimation filter directly from Markov parameters identified from fault-free data. We address this problem by parameterizing a…

The area of fault detection is becoming more interesting since there have been many unique designs to detect or even compensate the faults, either from sensor or actuator. This paper applies the hydraulic system with interconnected tanks by…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

This paper presents an active model-based FTC (fault-tolerant control) method for the dynamic positioning of a class of underwater vehicles with thruster redundancy. Compared to the widely used state and parameter estimation methods, this…

Dynamic dispatching is one of the core problems for operation optimization in traditional industries such as mining, as it is about how to smartly allocate the right resources to the right place at the right time. Conventionally, the…

This paper tackles the problem of discretizing accelerated optimization flows while retaining their convergence properties. Inspired by the success of resource-aware control in developing efficient closed-loop feedback implementations on…

We propose an optimal solution to a deterministic dynamic assignment problem by leveraging connections to the theory of discrete optimal transport to convert the combinatorial assignment problem into a tractable linear program. We seek to…

We propose a novel direct transcription and solution method for solving nonlinear, continuous-time dynamic optimization problems. Instead of forcing the dynamic constraints to be satisfied only at a selected number of points as in direct…

In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…

This paper considers a class of thrust vectoring systems, which are nonlinear, overactuated, and time-invariant. We assume that the system is composed of two subsystems and there exist singular points around which the linearized system is…

In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…

This work aims at finding optimal navigation policies for thin, deformable microswimmers that progress in a viscous fluid by propagating a sinusoidal undulation along their slender body. These active filaments are embedded in a prescribed,…

Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…

This paper considers the problem of task-dependent (top-down) attention allocation for vision-based autonomous navigation using known landmarks. Unlike the existing paradigm in which landmark selection is formulated as a combinatorial…

Floating offshore wind turbines allow wind energy to be harvested in deep waters. However, additional dynamics and structural loads may result when the floating platform is being excited by wind and waves. In this work, the conventional…

This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the…

This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…

The region of attraction is a key metric of the robustness of systems. This paper addresses the numerical solution of the generalized Zubov's equation, which produces a special Lyapunov function characterizing the robust region of…

This paper presents a novel approach to solve capacitated facility location problems (FLP) that encompass various resource allocation problems. FLPs are a class of NP-hard combinatorial optimization problems, involving optimal placement and…

In this work, the problem of optimizing damper positions in vibrational systems is investigated. The objective is to determine the positions of external dampers in such a way that the influence of the input on the output is minimized. The…