Related papers: Feedforward Control of Magnetically Levitated Plan…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
Dynamical magnetic levitation has attracted broad interest in the realm of physics and engineering. The stability analysis of such system is of great significance for practical applications. In this work, we investigate the stable magnetic…
When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
This paper presents the practical employment of G-Programming tools to demonstrate, design, and implement traditional control algorithms upon magnetic levitation system. The complexity of controlling this type of fast dynamic and sensitive…
The demand for high-precision and high-throughput motion control systems has increased significantly in recent years. The use of moving-magnet planar actuators (MMPAs) is gaining popularity due to their advantageous characteristics, such as…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
This research paper explores the potential of nonlinear magnetic levitation systems for energy harvesting by developing a modified system that incorporates a more realistic energy harvesting circuit, enabling a better representation of…
Reaction force-aware control is essential for legged climbing robots to ensure a safer and more stable operation. This becomes particularly crucial when navigating steep terrain or operating in microgravity environments, where excessive…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…
Magnetically actuated capsule robots promise minimally invasive diagnosis and therapy in the gastrointestinal (GI) tract, but existing systems largely neglect control of capsule pitch, a degree of freedom critical for contact-rich…
Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
We study the low-bias stabilization of active magnetic bearings (AMBs) subject to voltage saturation based on a recently proposed model for the AMB switching mode of operation. Using a forwarding-like approach, we construct a stabilizing…
The design and application of learning feedforward controllers (LFFC) for the one-staged refrigeration cycle model described in the PID2018 Benchmark Challenge is presented, and its effectiveness is evaluated. The control system consists of…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
A model-based feasible control strategy for multi-rotor systems is presented, pursuing two control objectives simultaneously: Mechanical loads on the main tower are to be mitigated, and an externally determined power change is to be…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
This paper presents the design and implementation of data-driven optimal derivative feedback controllers for an active magnetic levitation system. A direct, model-free control design method based on the reinforcement learning framework is…