Related papers: Design of a Networked Controller for a Two-Wheeled…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Control of wireless multihop networks, while simultaneously meeting end-to-end mean delay requirements of different flows is a challenging problem. Additionally, distributed computation of control parameters adds to the complexity. Using…
Networked Embedded Control Systems are distributed control systems where the communication among plants, sensors, actuators and controllers occurs in a shared network. They have been the subject of intensive study in the last few years. In…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
This paper considers a wireless networked control system (WNCS) consisting of a dynamic system to be controlled (i.e., a plant), a sensor, an actuator and a remote controller for mission-critical Industrial Internet of Things (IIoT)…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
We consider a wireless networked control system (WNCS) with bidirectional imperfect links for real-time applications such as smart grids. To maintain the stability of WNCS, captured by the probability that plant state violates preset…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
We focus on a particular form of network coding, reverse carpooling, in a wireless network where the potentially coded transmitted messages are to be decoded immediately upon reception. The network is fixed and known, and the system…
We present an algorithm for controlling and scheduling multiple linear time-invariant processes on a shared bandwidth limited communication network using adaptive sampling intervals. The controller is centralized and computes at every…
Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods…
This paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture,…
This paper develops the time-delay approach to Networked Control Systems (NCSs) in the presence of variable transmission delays, sampling intervals and communication constraints. The system sensor nodes are supposed to be distributed over a…
This paper studies the distributed L2-gain control problem for continuous-time large-scale systems under Round-Robin communication protocol. In this protocol, each sub-controller obtains its own subsystem's state information continuously,…
We analyze a classification of two main families of controllers that are of interest when the feedback loop is subject to switching propagation delays due to routing via a wireless multi-hop communication network. We show that we can cast…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…