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Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile…
With the advantages of high modeling accuracy and large bandwidth, recurrent neural network (RNN) based inversion model control has been proposed for output tracking. However, some issues still need to be addressed when using the RNN-based…
The purpose of this paper is to address a class of hybrid optimal control problems constrained with hyperelasticity and constant global volume. This type of problems can intervene for example in the mechanical aspects of cardiac activity.…
In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…
Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…
A detailed set of experiments are described that capture over a 1000 different instances of the bounce of a golf ball. Video analysis is used to capture velocity and spin immediately prior to and subsequent to each bounce for a wide variety…
No mixed research of hybrid and fractional-order systems into a cohesive and multifaceted whole can be found in the literature. This paper focuses on such a synergistic approach of the theories of both branches, which is believed to give…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
This paper deals with the finite horizon optimal control problem for discrete-time Markov jump linear system with input delay. The correlation among the jumping parameters and the input delay are considered simultaneously, which forms the…
This paper is devoted to the study of the dynamic optimization of several controlled crowd motion models in the general planar settings, which is an application of a class of optimal control problems involving a general nonconvex sweeping…