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A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
This paper develops and analyzes feedback-based online optimization methods to regulate the output of a linear time-invariant (LTI) dynamical system to the optimal solution of a time-varying convex optimization problem. The design of the…
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
High-energy laser facilities such as PHELIX at GSI require excellent beam pointing stability for reproducibility and relative independence for future experiments. Beam pointing stability has been traditionally achieved using simple…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…
Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. These control strategies also should be designed with…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
A novel perspective on the design of robust model predictive control (MPC) methods is presented, whereby closed-loop constraint satisfaction is ensured using recursive feasibility of the MPC optimization. Necessary and sufficient conditions…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
In this paper, adaptive set-point regulation controllers for discrete-time nonlinear systems are constructed. The system to be controlled is assumed to have a parametric uncertainty, and an excitation signal is used in order to obtain the…
Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the future system behavior, which is hardly possible on embedded…
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, and is robust to exogenous disturbances. To this end, we…