Tam W. Nguyen
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View article: General formulation of an analytic, Lipschitz continuous control allocation for thrust-vectored controlled rigid-bodies
General formulation of an analytic, Lipschitz continuous control allocation for thrust-vectored controlled rigid-bodies Open
This study introduces a systematic and scalable method for arbitrary rigid-bodies equipped with vectorized thrusters. Two novel solutions are proposed: a closed-form, Lipschitz continuous mapping that ensures smooth actuator orientation re…
View article: Kernel-based predictive control allocation for a class of thrust vectoring systems with singular points
Kernel-based predictive control allocation for a class of thrust vectoring systems with singular points Open
View article: On Switched Models of Glucose-insulin Dynamics for Type 1 Diabetes Mellitus
On Switched Models of Glucose-insulin Dynamics for Type 1 Diabetes Mellitus Open
View article: The Travelling Schnauzer Problem: Mission planning for heterogeneous vehicles with distance constraints
The Travelling Schnauzer Problem: Mission planning for heterogeneous vehicles with distance constraints Open
View article: KPCA for Thrust Vectoring Systems Exhibiting Singular Points
KPCA for Thrust Vectoring Systems Exhibiting Singular Points Open
This paper considers a class of thrust vectoring systems, which are nonlinear, overactuated, and time-invariant. We assume that the system is composed of two subsystems and there exist singular points around which the linearized system is …
View article: A Primal-Dual Framework for Transformers and Neural Networks
A Primal-Dual Framework for Transformers and Neural Networks Open
Self-attention is key to the remarkable success of transformers in sequence modeling tasks including many applications in natural language processing and computer vision. Like neural network layers, these attention mechanisms are often dev…
View article: p-Laplacian Transformer
p-Laplacian Transformer Open
$p$-Laplacian regularization, rooted in graph and image signal processing, introduces a parameter $p$ to control the regularization effect on these data. Smaller values of $p$ promote sparsity and interpretability, while larger values enco…
View article: Explicit reference governor on <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline" id="d1e348" altimg="si5.svg"><mml:mrow><mml:mi>S</mml:mi><mml:mi>O</mml:mi><mml:mrow><mml:mo>(</mml:mo><mml:mn>3</mml:mn><mml:mo>)</mml:mo></mml:mrow></mml:mrow></mml:math> for torque and pointing constraint management
Explicit reference governor on for torque and pointing constraint management Open
View article: A Nullspace-Based Predictive Control Allocation for the Control of a Quadcopter Manipulating an Object Attached to the Ground
A Nullspace-Based Predictive Control Allocation for the Control of a Quadcopter Manipulating an Object Attached to the Ground Open
In this paper, we propose a novel optimal predictive control allocation for the control of a quadcopter manipulating an object attached to the ground. This controller sprucely takes advantage of the nullspace of the quadcopter attitude map…
View article: State-Feedback-Critical Super Twisting Sliding Mode Control for a Half-Car Suspension System
State-Feedback-Critical Super Twisting Sliding Mode Control for a Half-Car Suspension System Open
A good suspension system is of paramount importance to the operating performance of a vehicle and, consequently, to the safety and driving comfort of the passengers. Nevertheless, suspension systems are commonly susceptible to nonlinearity…
View article: Thrust vector control of constrained multibody systems
Thrust vector control of constrained multibody systems Open
View article: Data-Driven Retrospective Cost Adaptive Control for Flight Control Application
Data-Driven Retrospective Cost Adaptive Control for Flight Control Application Open
Unlike fixed-gain robust control, which trades off performance with modeling uncertainty, direct adaptive control uses partial modeling information for online tuning. The present paper combines retrospective cost adaptive control (RCAC), a…
View article: Data-Driven Retrospective Cost Adaptive Control for Flight Control\n Application
Data-Driven Retrospective Cost Adaptive Control for Flight Control\n Application Open
Unlike fixed-gain robust control, which trades off performance with modeling\nuncertainty, direct adaptive control uses partial modeling information for\nonline tuning. The present paper combines retrospective cost adaptive control\n(RCAC)…
View article: Output-Feedback Model Predictive Control with Online Identification
Output-Feedback Model Predictive Control with Online Identification Open
Model predictive control (MPC) is a widely used modern control technique with numerous successful application in diverse areas. Much of this success is due to the ability of MPC to enforce state and control constraints, which are crucial i…
View article: Battery Energy Management of Autonomous Electric Vehicles Using Computationally Inexpensive Model Predictive Control
Battery Energy Management of Autonomous Electric Vehicles Using Computationally Inexpensive Model Predictive Control Open
With the emergence of vehicle-communication technologies, many researchers have strongly focused their interest in vehicle energy-efficiency control using this connectivity. For instance, the exploitation of preview traffic enables the veh…
View article: Correction: Adaptive Flight Control with Unknown Time-Varying Unstable Zero Dynamics
Correction: Adaptive Flight Control with Unknown Time-Varying Unstable Zero Dynamics Open
The command to 1 is a sequence of steps of magnitude 10 and -10, each of length 30 s, and the command to 2 is 0. Note, that this is an infeasible command for this plant.
View article: Distributed Dynamic Reference Governor for Constrained Semi-Autonomous Robotic Swarms with Communication Delays and Experimental Verification
Distributed Dynamic Reference Governor for Constrained Semi-Autonomous Robotic Swarms with Communication Delays and Experimental Verification Open
This paper investigates constrained semi-autonomous robotic swarms in the presence of inter-robot communication delays. The objective is that all robots converge to the optimal point related to the reference given by a human operator witho…
View article: Explicit Reference Governor for the Constrained Control of Linear Time-Delay Systems
Explicit Reference Governor for the Constrained Control of Linear Time-Delay Systems Open
This paper introduces an explicit reference governor to supervise closed-loop linear time-delay systems. The proposed scheme enforces state and input constraints by modifying the reference of the supervised system so that the state vector …
View article: Control of a quadrotor and a ground vehicle manipulating an object
Control of a quadrotor and a ground vehicle manipulating an object Open
View article: Constrained Control in Three Dimensions via Explicit Reference Governor
Constrained Control in Three Dimensions via Explicit Reference Governor Open
View article: Proofs of Control of a Quadrotor and a Ground Vehicle Manipulating an Object
Proofs of Control of a Quadrotor and a Ground Vehicle Manipulating an Object Open
This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the …
View article: Explicit Reference Governor for the Constrained Control of Time-Delayed Linear Systems
Explicit Reference Governor for the Constrained Control of Time-Delayed Linear Systems Open
This paper introduces an explicit reference governor approach for controlling time delay linear systems subject to state and input constraints. The proposed framework relies on suitable invariant sets that can be built using both Lyapunov-…
View article: A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks
A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks Open
This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed …
View article: A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks
A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks Open
This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed …
View article: Control of a UAV and a UGV Cooperating to Manipulate an Object
Control of a UAV and a UGV Cooperating to Manipulate an Object Open
info:eu-repo/semantics/published
View article: Proof of Control of a UAV and a UGV Cooperating to Manipulate an Object
Proof of Control of a UAV and a UGV Cooperating to Manipulate an Object Open
This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to mov…