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This paper presents steering control strategies for kinematic system Ṙ = RΩ on SO(3) for the case that input Ω is restricted to a class of sinusoidal functions. This restriction is motivated by the problem of rigid-body orientation control using vibrating internal-momentum actuators. A main result of this paper is a new closed-form solution of the kinematic system on SO(3). The solution is used to...
A new algorithm is presented to solve a class of deterministic drift counteraction optimal control (DCOC) problems for nonlinear discrete-time systems. The objective is to find a control policy that maximizes the time until the system violates prescribed constraints for the first time. We analyze convergence of the algorithm and show that it is more accurate compared to the conventional value iteration...
Continuation algorithms such as the pseudo-arclength method are frequently used to analyze nonlinear dynamical systems and to solve optimal control problems. They require continuous differentiability of the equations to be solved and may stall if this assumption is violated. This paper analyzes the conditions under which the pseudo-arclength method succeeds or fails when applied to a system of equations...
Hammerstein system identification is difficult because there exist the product items of the parameters between the static nonlinear block and the dynamic linear block. This paper presents a novel parameter separation based recursive least squares (PS-RLS) identification algorithm for resolving this problem. Its basic idea is to use a linear filter to filter the output data and the noise, and then...
We propose a new algorithm for controlling the transient behavior of the tracking error for higher relative degree systems. When considering problems of tracking, controlling the transient behavior of the error is more important when compared to its derivatives. We introduce a concept of virtual output, which converts an arbitrary relative degree system into a relative degree one system. The virtual...
In this paper, we focus on activating only a few sensors, among many available, to estimate the batch state of a stochastic process of interest. This problem is important in applications such as target tracking and simultaneous localization and mapping (SLAM), and in general, in problems where we need to have a good estimate of the trajectory taken so far, e.g., for linearisation purposes. It is challenging...
Patients with type 1 diabetes mellitus (T1DM) need to supply their body with insulin from external sources in order to manage their blood glucose (BG) concentration and mitigate the long-term effects of a chronically increased BG level. Doing so is challenging and a heavy burden for those patients, which led to efforts of automating (parts of) this task. The trend to automated choice of insulin dosage,...
Fluid flow in pipes is a key component in many industrial systems, including process heating & cooling, building space conditioning, oil & gas production, and steam systems. When evaluating these systems for potential energy savings or health diagnostics, one of the critical measurements is the flow rate of the working fluid. Current methods for non-intrusive, non-invasive methods are expensive...
We present a mixed-integer nonlinear programming (MINLP) formulation of a UAV path optimization problem, and attempt to find the global optimum solution. As objective functions in UAV path optimization problems tend to be non-convex, traditional optimization solvers (typically local solvers) are prone to local optima, which lead to severely sub-optimal controls. For the purpose of this study, we choose...
In this work, a novel technique of balanced truncation for model reduction of parameter-varying multidimensional systems in “Roesser Form” is proposed. The multidimensional system representation requires two operators defined on l2-space. The reduction is based on extended Gramians. Both, standard and improved error bounds for the model reduction problem are presented. The approach is demonstrated...
In data-driven modelling in dynamic networks, it is commonly assumed that all measured node variables in the network are noise-disturbed and that the network (vector) noise process is full rank. However when the scale of the network increases, this full rank assumption may not be considered as realistic, as noises on different node signals can be strongly correlated. In this paper it is analyzed how...
Optimal control in non-stationary Markov decision processes (MDP) is a challenging problem. The aim in such a control problem is to maximize the long-term discounted reward when the transition dynamics or the reward function can change over time. When a prior knowledge of change statistics is available, the standard Bayesian approach to this problem is to reformulate it as a partially observable MDP...
In this paper, the problem of observer design in linear multi-output systems with asynchronous sampling is addressed. The proposed multi-rate observer is based on a continuous-time Luenberger observer design coupled with an inter-sample predictor for each sampled measurement, which generates an estimate of the output in between consecutive measurements. The sampling times are not necessarily uniformly...
In this paper, we propose a non-iterative direct data-driven control approach, such that the controller is directly identified from input/output data without plant identification step. First we formulate the problem of designing a controller in order to match the behavior of an assigned reference model in terms of an equivalent set-membership errors-in-variables problem and we define the feasible...
While most physical systems or phenomena occur in continuous-time, identification methods based on discrete-time models are more widespread among practitioners and academic community, possibly due to the discrete-time nature of the data records. There has been a growing interest in estimating continuous-time (CT) models in the last decade. This work develops algorithms to estimate the parameters of...
One challenge facing CubeSat-class spacecraft undertaking science operations is that the volume constraints associated with this form factor impose strict limitations on control authority. In particular, it can be difficult to complete traditional reorientation maneuvers in a timely manner due to the comparatively low saturation limits of these actuators. This paper demonstrates the use of a new approach...
Locomotion for many articulated mechanical systems and animals is achieved through cyclic changes in shapes called gaits. In this paper we extend the geometric variational algorithm introduced in [1] to optimize gaits for kinematic systems with three shape variables. We then obtain optimal gaits for a variety of systems including the four-link swimmer (an extension of Purcell's swimmer). We then compare...
In this paper a nonlinear control synthesis for a mixed conventional/braking actuation mobile robot (MAMR) is presented. The MAMR is thought to be one of the possible solutions to tackle the common drawbacks of conventional mobile robots such as complexity, weight, and cost. This paper proposes a sliding mode control approach to control the parking of the MAMR along the x axis from any initial position...
This paper studies a leader-following consensus problem of multi-agent systems where the leader and the followers both have parametric uncertainties and some unknown disturbances act on the followers. The control objective is to make the followers follow the active leader with a desired trajectory in the presence of such uncertainties. An adaptive control method is adopted to solve this problem. A...
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