Related papers: A General Scheme Implicit Force Control for a Flex…
Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and,…
The paper is devoted to a design of a common bounded feedback control steering a system of an arbitrary number of linear oscillators to the equilibrium. At high energies, the control is based on the asymptotic theory of reachable sets of…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
Learning for control of dynamical systems with formal guarantees remains a challenging task. This paper proposes a learning framework to simultaneously stabilize an unknown nonlinear system with a neural controller and learn a neural…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable ($\delta$-ISS). In this work, we introduce the notion of $\delta$-ISS control Lyapunov function…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
The magnetic levitation system (Maglev) is a nonlinear system by which an object is suspended with no support other than magnetic fields. The main control perspective of the Maglev system is to levitate a steel ball in air by the…
Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…
This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…
We design the controls of physical systems that are faced by uncertainties. The system dynamics are described by random hyperbolic balance laws. The control aims to steer the system to a desired state under uncertainties. We propose a…
This study proposes a fuzzy-adjusted nonlinear control method based on torque jitter output limit constraints for overhead crane systems with double pendulum effects. The proposed control method can effectively suppress swing and achieve…