Related papers: On the Control of Self-Balancing Unicycles
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…
The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require avoidance of certain regions, while others require convergence…
A classical approach to design controllers for interconnected systems is to assume that the different subsystems operate at different time scales, then design simpler controllers within each time scale, and finally certify stability of the…
This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller to cope with normal driving situations. Its novelty…
This paper gives a summary of a body of work at the intersection of control theory and smooth nonlinear dynamics. The main idea is to transfer the concept of uniform hyperbolicity, central to the theory of smooth dynamical systems, to…
Design, control, and estimation for dynamic systems require accurate and analytically tractable models. However, modern engineered systems contain components that are described with heterogeneous modeling paradigms, as well as subsystems…
Controlling hybrid systems is mostly very challenging due to the variety of dynamics these systems can exhibit. Inspired by the concept of differential flatness of nonlinear continuous systems and their inherent invertibility property, the…
Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…
Thermostatically controlled loads (TCLs) have the potential to be a valuable resource for the Balancing Authority (BA) of the future. Examples of TCLs include household appliances such as air conditioners, water heaters, and refrigerators.…
In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good…
This paper investigates stable suboptimal H-infinity controllers for a class of single-input single-output time-delay systems. For a given plant and weighting functions, the optimal controller minimizing the mixed sensitivity (and the…
Exact controllability is proven on a graph with cycle. The controls can be a mix of controls applied at the boundary and interior vertices. The method of proof first uses a dynamical argument to prove shape controllability and velocity…
Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…
We investigate the dynamics of a bicycle on an uneven mountain bike track split into straight sections with small jumps (kickers) and banked corners. A basic bike-rider model is proposed and used to derive equations of motion, which capture…
This paper traces the strong relations between experimental design and control, such as the use of optimal inputs to obtain precise parameter estimation in dynamical systems and the introduction of suitably designed perturbations in…
Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…
Dynamic flux balance analysis of a bioreactor is based on the coupling between a dynamic problem, which models the evolution of biomass, feeding substrates and metabolites, and a linear program, which encodes the metabolic activity inside…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Balancing a bicycle is typical for the balance control humans perform as a part of a whole range of behaviors (walking, running, skating, skiing, etc.). This paper presents a general model of balance control and applies it to the balancing…