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In this paper, we propose a Lyapunov-based reinforcement learning method for distributed control of nonlinear systems comprising interacting subsystems with guaranteed closed-loop stability. Specifically, we conduct a detailed stability…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabilitation. Safety is critical for the…
This paper introduces a Data-Fused Model Predictive Control (DFMPC) framework that combines physics-based models with data-driven representations of unknown dynamics. Leveraging Willems' Fundamental Lemma and an artificial equilibrium…
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…
In this paper, a position and velocity estimation method for robotic manipulators which are affected by constant bounded disturbances is considered. The tracking control problem is formulated as a disturbance rejection problem, with all the…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
A nonlinear frequency response based adaptive vibration controller is proposed for a class of nonlinear mechanical systems. In order to obtain the nonlinear Frequency Response Function (FRF), the convergence properties of the system are…
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…