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Report

General Place Recognition Survey: Towards Real-World Autonomy

Autor: Yin, Peng, Jiao, Jianhao, Zhao, Shiqi, Xu, Lingyun, Huang, Guoquan, Choset, Howie, Scherer, Sebastian, Han, Jianda

In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a cornerstone technology. Despite the PR community's remarkable strides over th

Externí odkaz: http://arxiv.org/abs/2405.04812

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Akademický článek

An active fault-tolerant control framework against actuator stuck failures under input saturations

Autor: Qi Xin, Theilliol Didier, He Yuqing, Han Jianda

Publikováno v: International Journal of Applied Mathematics and Computer Science, Vol 27, Iss 4, Pp 749-761 (2017)

In this paper, a control framework including active fault-tolerant control (FTC) and reference redesign is developed subject to actuator stuck failures under input saturations. FTC synthesis and reference redesign approaches are proposed to guarantee

Externí odkaz: https://doaj.org/article/a9d9e03680b140ee8945f5db68c77645

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Report

Robust Control of An Aerial Manipulator Based on A Variable Inertia Parameters Model

Autor: Zhang, Guangyu, He, Yuqing, Dai, Bo, Gu, Feng, Han, Jianda, Liu, Guangjun

Publikováno v: IEEE Trans. Ind. Electron. 67(2020)9515-9525

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes

Externí odkaz: http://arxiv.org/abs/2401.04316

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Akademický článek

Simultaneous State and Parameter Estimation Based Actuator Fault Detection and Diagnosis for an Unmanned Helicopter

Autor: Wu Chong, Qi Juntong, Song Dalei, Qi Xin, Han Jianda

Publikováno v: International Journal of Applied Mathematics and Computer Science, Vol 25, Iss 1, Pp 175-187 (2015)

Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator

Externí odkaz: https://doaj.org/article/8896e656e6a54dac81bdc18973c16cd9

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