Related papers: Characterization of accessibility for affine conne…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…
We study a robot snake model based on a discrete linear control system involving Fibonacci sequence and closely related to the theory of expansions in non-integer bases. The present paper includes an investigation of the reachable…
The purpose of this paper is to present explicitly the solution curve for affine control systems on Lie groups under the assumption that automorphisms associated to the linear vector fields commutes. If we assume that the derivations…
Controlled invariant set and viability regulation of dynamical control systems have played important roles in many control and coordination applications. In this paper we develop a temporal viability regulation theory for general dynamical…
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
We investigate the controllability of some kinds of driftless affine systems where hysteresis effects are taken into account, both in the realization of the control and in the state evolution. In particular we consider two cases: the one…
This article provides an overview of the design of nonlinear feedback Cruise Controllers (CCs) for automated vehicles on lane-free roads. The feedback design problem is particularly challenging because of the various state constraints…
It is shown that for two large subclasses of discrete-time nonlinear systems - analytic systems defined on a compact state space and rational systems - the minimum length $r^*$ for input sequences, called here accessibility index of the…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
The asynchronous systems are the non-deterministic real time-binary models of the asynchronous circuits from electrical engineering. Autonomy means that the circuits and their models have no input. Regularity means analogies with the…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
For linear infinite systems the approximate controllability problem by control constraints is considered. Controllability conditions represented via system parameters are obtained. Partial differential control systems and control systems…
This work presents a harmonic design of autonomous guided vehicle (AGV) control, edge intelligence, and human input to enable autonomous transportation in industrial environments. The AGV has the capability to navigate between a source and…
In this paper, we characterize the accessibility of discrete-time linear control systems on Lie groups. Using an exceptional notion of derivative, we construct a subalgebra $\mathfrak{h}$ based on the infinitesimal automorphism of the…