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In this paper, we present a systematic approach for high-performance and efficient trajectory tracking control of autonomous wheel loaders. With the nonlinear dynamic model of a wheel loader, nonlinear model predictive control (MPC) is used…
This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a…
This paper develops a full-state feedback controller that damps out oscillations in traffic density and traffic velocity whose dynamical behavior is governed by the linearized two-class Aw-Rascle (AR) model. Thereby, the traffic is…
Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…
This is the first part of four series papers, aiming at the problem of actuator dynamics compensation for linear systems. We consider the stabilization of a type of cascade abstract linear systems which model the actuator dynamics…
In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions…
This paper presents novel methods for tuning inverter controller gains using deep reinforcement learning (DRL). A Simulink-developed inverter model is converted into a dynamic link library (DLL) and integrated with a Python-based RL…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
This paper addresses design, modeling and dynamic-compensation PID (dc-PID) control of a novel type of fully-actuated aerial manipulation (AM) system. Firstly, design of novel mechanical structure of the AM is presented. Secondly,…
This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…
This paper studies estimation of causal effects in a panel data setting. We introduce a new estimator, the Triply RObust Panel (TROP) estimator, that combines (i) a flexible model for the potential outcomes based on a low-rank factor…
A dual adaptive model predictive control (MPC) algorithm is presented for linear, time-invariant systems subject to bounded disturbances and parametric uncertainty in the state-space matrices. Online set-membership identification is…
We propose an active inference agent to identify and control a mechanical system with multiple bodies connected by joints. This agent is constructed from multiple scalar autoregressive model-based agents, coupled together by virtue of…
The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…
Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
This paper proposes a spectral-based tuning method for proportional-integral (PI) controllers in integrating-plus-dead-time (IPDT) systems. The design objective is to achieve unified exponential decay for both reference tracking and…