Related papers: Dynamics, Control, and Estimation for Aerial Robot…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
Wire actuation in tendon-driven continuum robots enables the transmission of force from a distance, but it is understood that tension control problems can arise when a pulley is used to actuate two cables in a push-pull mode. This paper…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
Tensegrities synergistically combine tensile (cable) and rigid (link) elements to achieve structural integrity, making them lightweight, packable, and impact resistant. Consequently, they have high potential for locomotion in unstructured…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…
In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…
Soft robots have gained increased popularity in recent years due to their adaptability and compliance. In this paper, we use a digital twin model of cable-driven soft robots to learn control parameters in simulation. In doing so, we take…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
In this article, we present data-driven feedback linearization for nonlinear systems with periodic orbits in the zero-dynamics. This scenario is challenging for data-driven control design because the higher order terms of the internal…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Dynamics of the hybrid systems of aerial cable-ways is investigated. The eigenvalue problems are considered for such hybrid systems with different assumptions. An overview of different methods for eigenvalue problems is given. In the…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
A unified solution to adaptive approximation-based control for nonlinear systems with accurate and inaccurate state measurement is synthesized in this study. Starting from the standard adaptive approximation-based controller with accurate…