Blar i Øvrige samlinger på tidsskrift "I E E E Conference on Decision and Control. Proceedings"
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A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles
(Journal article; Peer reviewed, 2019)This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ... -
Boundary Set-Point Regulation of a Linear 2×2 Hyperbolic PDE with Uncertain Bilinear Boundary Condition
(Journal article; Peer reviewed, 2018)We design an adaptive controller for a 2 × 2 linear hyperbolic PDE with uncertain boundary parameters where measurements are taken at both boundaries, while only one boundary is actuated. The uncertainty, which appears in ... -
Disturbance Attenuation of n+1 Coupled Hyperbolic PDEs
(Journal article; Peer reviewed, 2015)In this paper, we present a state-feedback and a state-observer for disturbance attenuation problems for a class of n + 1 coupled linear hyperbolic partial differential equations. The disturbance and the sensing are located ... -
Estimating vector magnitude from its direction and derivative, with application to bearing-only SLAM filter problem
(Journal article; Peer reviewed, 2019)For some problems, such as monocular visual odometry (VO), vector measurements are given with unknown magnitude. In VO, the magnitude can be found by recognizing features with known position, or with an extra sensor such ... -
Fault-tolerant control allocation: an Unknown Input Observer based approach with constrained output fault directions
(Journal article; Peer reviewed, 2013)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 ... -
Meal estimation from Continuous Glucose Monitor data using Kalman filtering and hypothesis testing
(Journal article; Peer reviewed, 2019)A method for estimating meal inputs from Continuous Glucose Monitoring (CGM) data is presented. The method is based on Kalman filtering and hypothesis testing, and provides estimates of the time the meal was initiated and ... -
New Results on Trajectory Planning for Underactuated Mechanical Systems with Singularities in Dynamics of a Motion Generator
(Journal article; Peer reviewed, 2018)The new approach to the problem of motion planning for underactuated mechanical systems is proposed. The novelty comes from new opportunities to handle singularities of the dynamics of the motion generator provided that ... -
Structure Exploitation of Practical MPC Formulations for speeding up First-Order Methods
(Journal article; Peer reviewed, 2017)This paper presents structure exploitation techniques that lead to faster convergence of first-order methods for practical Model Predictive Control (MPC) formulations. We exploit the special structure of output box constraints ...