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  1. Vehicle Path-Following with a GPS-aided Inertial Navigation System

    This article describes a methodology to guide a passenger car along a predefined path in order to perform drive tests. A feedback/feedforward control...
    Steffen Kehl, Wolf-Dieter Pölsler, Michael Zeitz in Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems
    Chapter

  2. Flatness-Based Improved Relative Guidance Maneuvers for Commercial Aircraft

    With the sustained increase of air traffic leading to airspace saturation, new flight maneuvering capabilities are expected for commercial aircraft....
    Thierry Miquel, Jean Lévine, Félix Mora-Camino in Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems
    Chapter

  3. Closed-Loop Fault-Tolerant Control for Uncertain Nonlinear Systems

    We are designing, perhaps for the first time, closed-loop fault-tolerant control for uncertain nonlinear systems. Our solution is based on a new...
    Michel Fliess, Cédric Join, Hebertt Sira-Ramírez in Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems
    Chapter

  4. 6 Contact Modelling

    This chapter describes the contact modelling for autonomous compliant motion assuming quasi-static, rigid, frictionless contacts. The contact models...
    Tine Lefebvre, Herman Bruyninckx, Joris De Schutter in Nonlinear Kalman Filtering for Force-Controlled Robot Tasks
    Chapter

  5. E Partial Observation with the Kalman Filter

    This appendix contains the proofs of Lemmas 7.1 and 7.2. These lemmas state that, for static systems, (i) a Kalman Filter can be run on only the...
    Tine Lefebvre, Herman Bruyninckx, Joris De Schutter in Nonlinear Kalman Filtering for Force-Controlled Robot Tasks
    Chapter

  6. Distributed Kalman Filtering and Sensor Fusion in Sensor Networks

    The problem of distributed Kalman filtering (DKF) for sensor networks is one of the most fundamental distributed estimation problems for scalable...
    Reza Olfati-Saber in Networked Embedded Sensing and Control
    Chapter

  7. Applications of Connectivity Graph Processes in Networked Sensing and Control

    This paper concerns the problem of controlling mobile nodes in a network in such a way that the resulting graph-encoding of the inter-node...
    Abubakr Muhammad, Meng Ji, Magnus Egerstedt in Networked Embedded Sensing and Control
    Chapter

  8. Delay-Reliability Tradeoffs in Wireless Networked Control Systems

    Networked control systems (NCS) require the data to be communicated timely and reliably. However, random transmission errors incurred by wireless...
    Min **e, Martin Haenggi in Networked Embedded Sensing and Control
    Chapter

  9. Plenary Talk: The Role of Information Theory in Communication Constrained Control Systems

    Communication is an important component of distributed, networked, and cooperative control systems. In most current systems the communication aspects...
    Sekhar Tatikonda in Networked Embedded Sensing and Control
    Chapter

  10. Simulation of Large-Scale Networked Control Systems Using GTSNetS

    This paper presents a simulation framework for distributed control using wireless sensor networks. The proposed framework is an extension of the...
    ElMoustapha Ould-Ahmed-Vall, Bonnie S. Heck, George F. Riley in Networked Embedded Sensing and Control
    Chapter

  11. Belief Consensus and Distributed Hypothesis Testing in Sensor Networks

    In this paper, we address distributed hypothesis testing (DHT) in sensor networks and Bayesian networks using the average-consensus algorithm of...
    Reza Olfati-Saber, Elisa Franco, ... Je. S. Shamma in Networked Embedded Sensing and Control
    Chapter

  12. Plenary Talk Network-Embedded Sensing and Control: Applications and Application Requirements

    The first part of my talk will cover some recent commercially successful applications of networked and embedded sensing and control solutions. These...
    Tariq Samad in Networked Embedded Sensing and Control
    Chapter

  13. 6 Discrete-time Terminal Sliding Mod: Concept

    The behavior of the system in sliding mode is determined by the sliding manifold upon which the system states are constrained. Sliding hyperplanes,...
    B. Bandyopadhyay, S. Janardhanan in Discrete-time Sliding Mode Control
    Chapter

  14. Remarks on Moving Horizon State Estimation with Guaranteed Convergence

    In this paper, a moving horizon state estimation scheme is proposed. The scheme is inspired by combining the system-theoretic concept of...
    Tobias Raff, Christian Ebenbauer, ... Frank Allgöwer in Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems
    Chapter

  15. On Invariant Observers

    A definition of invariant observer and compatible output function is proposed and motivated. For systems admitting a Lie symmetry-group G of...
    Silvère Bonnabel, Pierre Rouchon in Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems
    Chapter

  16. Model-based Nonlinear Tracking Control of Pressure Swing Adsorption Plants

    Pressure swing adsorption (PSA) processes are used for the separation and purification of gas mixtures. PSA plants are composed of several fixed-bed...
    Matthias Bitzer in Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems
    Chapter

  17. 4 Kalman Filters for Nonlinear Systems

    The Kalman Filter (KF) [137, 240] is a special case of Bayesian filtering theory. It applies to the estimation of a continuous-valued state x if the...
    Tine Lefebvre, Herman Bruyninckx, Joris De Schutter in Nonlinear Kalman Filtering for Force-Controlled Robot Tasks
    Chapter

  18. Plenary Talk: Delays in Control over Communication Networks: Characterization, Impact, and Reduction Strategies

    The most notable trend in manufacturing over the past five years is probably the move towards networks at all levels of industrial systems. At lower...
    Dawn Tilbury in Networked Embedded Sensing and Control
    Chapter

  19. Disturbance Attenuation Bounds in the Presence of a Remote Preview

    We study the fundamental limits of disturbance attenuation of a networked control scheme, where a remote preview of the disturbance is available. The...
    Nuno C. Martins, Munther A. Dahleh, John C. Doyle in Networked Embedded Sensing and Control
    Chapter

  20. A Canonical Form for the Design of Unknown Input Sliding Mode Observers

    The concept of sliding mode control [11, 27, 32] has been extended to the problem of the state estimation by an observer, both for linear [10, 32]...
    Thierry Floquet, Jean-Pierre Barbot in Advances in Variable Structure and Sliding Mode Control
    Chapter
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