In this paper,it is shown that the performances of a class of high-gain practical observers can be improved by estimating the time derivatives of the output up to an order that is greater than the dimension of the sys...In this paper,it is shown that the performances of a class of high-gain practical observers can be improved by estimating the time derivatives of the output up to an order that is greater than the dimension of the system, which is assumed to be in observability form and, possibly, time-varying. Such an improvement is achieved without increasing the gain of the observers, thus allowing their use in a wide variety of control and identification applications.展开更多
A novel distributed control architecture for unmanned aircraft system (UASs) based on thenew Robot Operating System (ROS) 2 middleware is proposed, endowed with industrialgradetools that establish a novel standard for...A novel distributed control architecture for unmanned aircraft system (UASs) based on thenew Robot Operating System (ROS) 2 middleware is proposed, endowed with industrialgradetools that establish a novel standard for high-reliability distributed systems. Thearchitecture has been developed for an autonomous quadcopter to design an inclusivesolution ranging from low-level sensor management and soft real-time operating systemsetup and tuning to perception, exploration, and navigation modules orchestrated by afinite-state machine. The architecture proposed in this study builds on ROS 2 with itsscalability and soft real-time communication functionalities, while including security andsafety features, optimised implementations of localisation algorithms, and integrating aninnovative and flexible path planner for UASs. Finally, experimental results have beencollected during tests carried out both in the laboratory and in a realistic environment,showing the effectiveness of the proposed architecture in terms of reliability, scalability, andflexibility.展开更多
文摘In this paper,it is shown that the performances of a class of high-gain practical observers can be improved by estimating the time derivatives of the output up to an order that is greater than the dimension of the system, which is assumed to be in observability form and, possibly, time-varying. Such an improvement is achieved without increasing the gain of the observers, thus allowing their use in a wide variety of control and identification applications.
基金supported in part by the Italian Ministry of Research in the framework of the Program for Research Projects of National Interest(PRIN),under Grants No.2017YKXYXJ and No.2020RTWES4.
文摘A novel distributed control architecture for unmanned aircraft system (UASs) based on thenew Robot Operating System (ROS) 2 middleware is proposed, endowed with industrialgradetools that establish a novel standard for high-reliability distributed systems. Thearchitecture has been developed for an autonomous quadcopter to design an inclusivesolution ranging from low-level sensor management and soft real-time operating systemsetup and tuning to perception, exploration, and navigation modules orchestrated by afinite-state machine. The architecture proposed in this study builds on ROS 2 with itsscalability and soft real-time communication functionalities, while including security andsafety features, optimised implementations of localisation algorithms, and integrating aninnovative and flexible path planner for UASs. Finally, experimental results have beencollected during tests carried out both in the laboratory and in a realistic environment,showing the effectiveness of the proposed architecture in terms of reliability, scalability, andflexibility.
