Related papers: Design of a Networked Controller for a Two-Wheeled…

Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…

Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear…

Heading and position control system of ships has remained a challenging control problem. It is a nonlinear multiple input multiple output system. Moreover, the dynamics of the system vary with operating as well as environmental conditions.…

This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…

Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…

Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…

We consider the problem of scheduling transmissions over low-latency wireless communication links to control various control systems. Low-latency requirements are critical in developing wireless technology for industrial control and Tactile…

The distributed control systems are more and more used in many industrial applications. These systems are often referred as "Networked control systems". The goal of this paper is to show the network influence on feedback control systems.…

In this paper, we study the well-posedness and approximate controllability of a class of network systems having delays and controls at the boundary conditions. The particularity of this work is that the network system is defined on infinite…

We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…

This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…

In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…

Control loops closed over wireless links greatly benefit from accurate estimates of the communication channel condition. To this end, the finite-state Markov channel model allows for reliable channel state estimation. This paper develops a…

This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together with unmodeled dynamics and external disturbances, poses…

This paper aims to improve the reliability of optimal control using models constructed by machine learning methods. Optimal control problems based on such models are generally non-convex and difficult to solve online. In this paper, we…

By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…

Bipedal robots demonstrate potential in navigating challenging terrains through dynamic ground contact. However, current frameworks often depend solely on proprioception or use manually designed visual pipelines, which are fragile in…

The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…

Robust control is a core approach for controlling systems with performance guarantees that are robust to modeling error, and is widely used in real-world systems. However, current robust control approaches can only handle small system…

In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control…