Related papers: Robust Tracking Control for Constrained Robots
The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…
In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in…
This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…
Reinforcement learning is showing great potentials in robotics applications, including autonomous driving, robot manipulation and locomotion. However, with complex uncertainties in the real-world environment, it is difficult to guarantee…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
This paper presents a new prescribed performance control scheme for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances under mechanical constraints. First, a novel prescribed performance…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
In this paper, a constrained parameter update law is derived in the context of adaptive control. The parameter update law is based on constrained optimization technique where a Lagrangian is formulated to incorporate the constraints on the…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
Safety and robustness are two desired properties for any reinforcement learning algorithm. CMDPs can handle additional safety constraints and RMDPs can perform well under model uncertainties. In this paper, we propose to unite these two…