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检索条件"机构=Institute for Control Theory and Robotics"
164 条 记 录,以下是1-10 订阅
排序:
Exploiting Equivariance in the Design of Tracking controllers for Euler-Poincare Systems on Matrix Lie Groups ⁎
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IFAC-PapersOnLine 2024年 第6期58卷 333-338页
作者: Matthew Hampsey Pieter van Goor Ravi Banavar Robert Mahony Systems Theory and Robotics Group School of Engineering Australian National University Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetrie... 详细信息
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EXPLOITING EQUIVARIANCE IN THE DESIGN OF TRACKING controlLERS FOR EULER-POINCARE SYSTEMS ON MATRIX LIE GROUPS
arXiv
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arXiv 2024年
作者: Hampsey, Matthew Banavar, Ravi van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group Australian National University ACT2601 Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This constr... 详细信息
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A High-Precision Edge Detection Algorithm Based on Improved Sobel Operator-Assisted HED  14
A High-Precision Edge Detection Algorithm Based on Improved ...
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14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems, CYBER 2024
作者: Yuan, Yeborui Chen, Wenyuan Tang, Jie Yang, Jia School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics 110016 China University of Chinese Academy of Sciences Beijing100049 China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300384 China
In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detecti... 详细信息
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LipKernel: Lipschitz-Bounded Convolutional Neural Networks via Dissipative Layers
arXiv
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arXiv 2024年
作者: Pauli, Patricia Wang, Ruigang Manchester, Ian Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia
We propose a novel layer-wise parameterization for convolutional neural networks (CNNs) that includes built-in robustness guarantees by enforcing a prescribed Lipschitz bound. Each layer in our parameterization is des... 详细信息
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Lipschitz-Bounded 1D Convolutional Neural Networks using the Cayley Transform and the controllability Gramian
Lipschitz-Bounded 1D Convolutional Neural Networks using the...
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IEEE Conference on Decision and control
作者: Patricia Pauli Ruigang Wang Ian R. Manchester Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia
We establish a layer-wise parameterization for 1D convolutional neural networks (CNNs) with built-in end-to-end robustness guarantees. In doing so, we use the Lipschitz constant of the input-output mapping characteriz...
来源: 评论
Lipschitz-bounded 1D convolutional neural networks using the Cayley transform and the controllability Gramian
arXiv
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arXiv 2023年
作者: Pauli, Patricia Wang, Ruigang Manchester, Ian R. Allgöwer, Frank The Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany The Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia
We establish a layer-wise parameterization for 1D convolutional neural networks (CNNs) with built-in end-to-end robustness guarantees. In doing so, we use the Lipschitz constant of the input-output mapping characteriz... 详细信息
来源: 评论
Reprojection Methods for Koopman-Based Modelling and Prediction
Reprojection Methods for Koopman-Based Modelling and Predict...
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IEEE Conference on Decision and control
作者: Pieter Van Goor Robert Mahony Manuel Schaller Karl Worthmann Systems Theory and Robotics Group School of Engineering Australian National University Canberra Australia Optimization-based Control Group Institute of Mathematics Technische Universitat Ilmenau Ilmenau Germany
Extended Dynamic Mode Decomposition (eDMD) is a powerful tool to generate data-driven surrogate models for the prediction and control of nonlinear dynamical systems in the Koopman framework. In eDMD a compression of t...
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Reprojection methods for Koopman-based modelling and prediction
arXiv
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arXiv 2023年
作者: van Goor, Pieter Mahony, Robert Schaller, Manuel Worthmann, Karl Systems Theory and Robotics Group School of Engineering Australian National University Canberra Australia Optimization-based Control Group Institute of Mathematics Technische Universität Ilmenau Germany
Extended Dynamic Mode Decomposition (eDMD) is a powerful tool to generate data-driven surrogate models for the prediction and control of nonlinear dynamical systems in the Koopman framework. In eDMD a compression of t... 详细信息
来源: 评论
SLAM-Based Joint Calibration of Differential RSS Sensor Array and Source Localization  49
SLAM-Based Joint Calibration of Differential RSS Sensor Arra...
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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
作者: Fu, Linya Qiao, Xu Huang, Shoudong Mao, Guoqiang Lin, Zhiyun Li, Youfu Kong, He Robotics Institute Uni. of Technology Sydney Sydney Australia Xidian University State Key Laboratory of Integrated Services Networks China City University of Hong Kong Department of Mechanical Engineering China Southern Uni. of Sci. and Tech. Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen China Southern Uni. of Sci. and Tech. Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China
Sensor arrays generating differential received signal strength (DRSS) measurements have found many applications in robotics. However, accurate calibration of these sensor arrays remains a challenge. Most existing meth... 详细信息
来源: 评论
Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator
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Journal of Central South University 2021年 第10期28卷 3127-3146页
作者: DING Shu-chen PENG Li QIAO Shang-ling LIU Rong-qiang JOSEPHAT Bundi School of IoT Engineering Jiangnan UniversityWuxi 214122China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China
In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of... 详细信息
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