Annie M. Mao — accepted AI-conference papers

2024

Nullspace Adaptive Model-Based Trajectory-Tracking Control for a 6-DOF Underwater Vehicle with Unknown Plant and Actuator Parameters: Theory and Preliminary Simulation Evaluation

Annie M. Mao, Joseph L. Moore, Louis L. Whitcomb

ICRA 2024poster

We report a novel model-based nullspace adaptive trajectory-tracking control (NS-ATTC) algorithm for fully-actuated 6-degree-of-freedom (DOF) underwater vehicles which estimates unknown plant and actuator model parameters simultaneously. We provide a stability and convergence analysis with proof of…

Cited by 2 Source ↗Scholar ↗

2021

A Novel Quotient Space Approach to Model-Based Fault Detection and Isolation: Theory and Preliminary Simulation Evaluation

Annie M. Mao, Louis L. Whitcomb

IROS 2021poster

We report the development of novel fault detection and isolation (FDI) methods for model-based fault detection (MB-FD) and quotient-space fault isolation (QS-FI). This FDI approach performs MB-FD and QS-FI of single or multiple con-current faults in plants and actuators simultaneously, without a pri…

Cited by 8 Source ↗Scholar ↗