Wave-Domain Approach for Cancelling Noise Entering Open Windows

Active control of noise propagating through apertures is commonly realized with closed-loop LMS algorithms. However, these algorithms require a large number of error microphones and provide only local attenuation. Slow convergence and high computational effort are additional disadvantages. We propose a wave-domain approach that converges...

Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference

This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of probabilistically robust thresholds for fault-tolerant control of robotic systems using the free-energy. The...

Active inference for fault tolerant control of robot manipulators with sensory faults

We present a fault tolerant control scheme for robot manipulators based on active inference. The proposed solution makes use of the sensory prediction errors in the free-energy to simplify the residuals and thresholds generation for fault detection and isolation and does not require additional controllers for fault recovery. Results...