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This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Motivated by the concept of Quasi-Sliding Mode (QSM) in discrete-time systems, this paper presents a novel approach that relaxes the requirement of ubiquitous exact sliding motion in continuous-time systems, aiming to achieve an…
Model Predictive Control (MPC) is a vital technique for autonomous systems, like Unmanned Aerial Vehicles (UAVs), enabling optimized motion planning. However, traditional MPC struggles to adapt to real-time changes such as dynamic obstacles…
Many-body unitary dynamics interspersed with repeated measurements display a rich phenomenology hallmarked by measurement-induced phase transitions. Employing feedback-control operations that steer the dynamics toward an absorbing state, we…
The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper…
In distributed model predictive control (DMPC), where a centralized optimization problem is solved in distributed fashion using dual decomposition, it is important to keep the number of iterations in the solution algorithm, i.e. the amount…
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 is concerned with the Proportional Integral (PI) regulation control of the left Neu-mann trace of a one-dimensional semilinear wave equation. The control input is selected as the right Neumann trace. The control design goes as…
This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a…
Recent works have shown that attaching prompts to the input is effective at conditioning Language Models (LM) to perform specific tasks. However, prompts are always included in the input text during inference, thus incurring substantial…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
We consider the design of structure-preserving discretization methods for the solution of systems of boundary controlled Partial Differential Equations (PDEs) thanks to the port-Hamiltonian formalism. We first provide a novel general…
"Model-free" control and the related "intelligent" proportional-integral (PI) controllers are successfully applied to freeway ramp metering control. Implementing moreover the corresponding control strategy is straightforward. Numerical…
In this paper, we consider the problem of periodic optimal control of nonlinear systems subject to online changing and periodically time-varying economic performance measures using model predictive control (MPC). The proposed economic MPC…
In this work, we investigate the problem of simultaneously learning and controlling a system subject to adversarial choices of disturbances and system parameters. We study the problem for a scalar system with $l_\infty$-norm bounded…
We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows…
This paper presents an $\mathcal{H}_\infty$ model matching control-based approach to the problem of power hardware-in-the-loop (PHIL) interfacing. The objective is to interconnect a grid simulation and a physical device via an interface in…
We present a real-time front-end for voice-based conversational AI to enable natural turn-taking in two-speaker scenarios by combining primary speaker segmentation with hierarchical End-of-Turn (EOT) detection. To operate robustly in…