Related papers: Control of a Bicycle Using Virtual Holonomic Const…
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
We study closed smooth convex plane curves $\Gamma$ enjoying the following property: a pair of points $x,y$ can traverse $\Gamma$ so that the distances between $x$ and $y$ along the curve and in the ambient plane do not change; such curves…
This paper presents the design and analysis of a Hybrid High-Order (HHO) approximation for a distributed optimal control problem governed by the Poisson equation. We propose three distinct schemes to address unconstrained control problems…
This paper presents an inverse optimal control methodology and its application to training a predictive model of human motor control from a manipulation task. It introduces a convex formulation for learning both objective function and…
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
This paper presents a backstepping approach for the boundary control of first-order hyperbolic equations with spatially varying coefficients posed on domains of arbitrary dimension. The method is based on a change of variables induced by…
We propose a new hybrid modelling approach that combines a mechanistic model with a machine-learnt model to predict the limit cycle oscillations of physical systems with a Hopf bifurcation. The mechanistic model is an ordinary differential…
Suppose that finitely many disjoint open arcs have been selected on the unit circle, each of length less than $\pi$. Let $L_0$ be a longest among them. One can treat the unit disk as a hyperbolic plane in the Poincare disk model. From this…
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…
This paper investigates a Hamilton-Jacobi (HJ) analysis to solve finite-horizon optimal control problems for high-dimensional systems. Although grid-based methods, such as the level-set method [1], numerically solve a general class of HJ…
In this paper, we investigate a distributed optimal control problem for a convective viscous Cahn-Hilliard system with dynamic boundary conditions. Such systems govern phase separation processes between two phases taking place in an…
In order to describe the impact of nonholonomic constraints for the dynamics of a regular controlled Hamiltonian (RCH) system, in this paper, for an RCH system with nonholonomic constraint, we first derive its distributional RCH system, by…
Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of…
In this paper, we provide a geometric characterization of virtual nonlinear nonholonomic constraints from a symplectic perspective. Under a transversality assumption, there is a unique control law making the trajectories of the associated…
We consider quadratic three-dimensional differential systems having a Hopf singular point. We study the cyclicity when the singular point is a center on the center manifold using higher order developments of the Lyapunov constants. As a…
Hybrid dynamical systems pose significant challenges for effective planning and control, especially when additional constraints such as obstacle avoidance, state boundaries, and actuation limits are present. In this letter, we extend the…
Hamiltonian systems with linearly dependent constraints (irregular systems), are classified according to their behavior in the vicinity of the constraint surface. For these systems, the standard Dirac procedure is not directly applicable.…
We study a simple model of bicycle motion: a segment of fixed length in multi-dimensional Euclidean space, moving so that the velocity of the rear end is always aligned with the segment. If the front track is prescribed, the trajectory of…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…