ﻻ يوجد ملخص باللغة العربية
This paper presents an impedance control architecture for an electroacoustic absorber combining both a feedforward and feedback microphone-based system on a current driven loudspeaker. Feedforward systems enable good performance for direct impedance control. However, inaccuracies in the required actuator model can lead to a loss of passivity, which can cause unstable behaviors. The feedback contribution allows the absorber to better handle model errors and still achieve an accurate impedance. Numerical and experimental studies were conducted to compare this new architecture against a state-of-the-art feedforward control method.
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their generalisation is li
We present a framework for systematically combining data of an unknown linear time-invariant system with prior knowledge on the system matrices or on the uncertainty for robust controller design. Our approach leads to linear matrix inequality (LMI) b
In this paper, we consider the application of optimal periodic control sequences to switched dynamical systems. The control sequence is obtained using a finite-horizon optimal method based on dynamic programming. We then consider Euler approximate so
We present a robust control framework for time-critical systems in which satisfying real-time constraints is of utmost importance for the safety of the system. Signal Temporal Logic (STL) provides a formal means to express a variety of real-time cons
Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the mechanical