Related papers: Controlled Recurrence of a Biped with Torso
Motivated by a real problem in steel production, we introduce and analyze a general class of singularly perturbed linear hybrid systems with both switches and impulses, in which the slow or fast nature of the variables can be…
In this paper, we propose a novel sampling control framework based on the emulation technique where the sampling error is regarded as an auxiliary input to the emulated system. Utilizing the supremum norm of sampling error, the design of…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
In this paper, we study the probabilistic stability analysis of a subclass of stochastic hybrid systems, called the Planar Probabilistic Piecewise Constant Derivative Systems (Planar PPCD), where the continuous dynamics is deterministic,…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
The problem of step tracking control with a switching input and without any continuous-valued inputs is considered. The control objective is to reduce the number of switchings to a minimal value. This approach finds interesting applications…
This paper is concerned with the problem of robust reliable control for a class of uncertain 2D discrete switched systems with state delays represented by a model of Roesser type. The parameter uncertainties are assumed to be norm-bounded.…
We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…
Employing model predictive control to systems with unbounded, stochastic disturbances poses the challenge of guaranteeing safety, i.e., repeated feasibility and stability of the closed-loop system. Especially, there are no strict repeated…
We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our method combines a five-mass model with approximate dynamics of each mass. It enables…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…
Reachability analysis has been a prominent way to provide safety guarantees for neurally controlled autonomous systems, but its direct application to neural perception components is infeasible due to imperfect or intractable perception…
This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…
We analyze robust stability, in an input-output sense, of switched stable systems. The primary goal (and contribution) of this paper is to design switching strategies to guarantee that input-output stable systems remain so under switching.…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
We demonstrate the use of a new, control-oriented notion of finite state approximation for a particular class of hybrid systems. Specifically, we consider the problem of designing a stabilizing binary output feedback switching controller…