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In this paper, we present a novel control scheme for feedback optimization. That is, we propose a discrete-time controller that can steer the steady state of a physical plant to the solution of a constrained optimization problem without…
This paper aims to design an optimal stability controller for a point to point trajectory tracking 3 degree of freedom articulated manipulator. The DH convention is used to obtain the forward and inverse kinematics of the manipulator. The…
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…
This paper addresses the problem of designing an optimal output feedback controller with a specified controller structure for linear time-invariant (LTI) systems to maximize the passivity level for the closed-loop system, in both…
We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position…
This paper addresses the data-driven structured controller design problem for continuous-time linear time-invariant (LTI) systems. We consider three control objectives, including stabilization, $H_2$ performance, and $H_\infty$ performance.…
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
This paper studies finite-horizon robust tracking control for discrete-time linear systems, based on input-output data. We leverage behavioral theory to represent system trajectories through a set of noiseless historical data, instead of…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
This paper introduces a novel method for robust output-feedback model predictive control (MPC) for a class of nonlinear discrete-time systems. We propose a novel interval-valued predictor which, given an initial estimate of the state,…
This paper presents a general framework for the design of linear controllers for linear systems subject to time-domain constraints. The design framework exploits sums-of-squares techniques to incorporate the time-domain constraints on…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
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…
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a…
In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This…
Projection-based integrators are effectively employed in high-precision systems with growing industrial success. By utilizing a projection operator, the resulting projection-based integrator keeps its input-output pair within a designated…
This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-varying state feedback…
This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV)…
We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…