Related papers: Hybrid Position/Force Control for Hydraulic Actuat…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…
This paper develops a hybrid output-feedback control framework for average dwell-time (ADT) switched linear systems subject to actuator saturation. The considered subsystems may be exponentially unstable, and the saturation nonlinearity is…
An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
The hybrid series-parallel system is the final form of the power electronics-enabled power system, which combines the advantages of both series and parallel connections. Although self-synchronization of parallel-type and series-type systems…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Electrohydraulic servosystems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high…
This paper provides a novel surface design and experimental evaluation of a super-twisting algorithm (STA) based control for hydraulic cylinder actuators. The proposed integral sliding surface allows to track a sufficiently smooth reference…
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adjust the control input sent to the robot to assist the…
The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
This paper presents the development of a mathematical model of a converter state space model for a hybrid microgrid. The hybrid model combines the models of components such as DC-Converters, DC-AC converters, and their individual…
We present a novel method for learning hybrid force/position control from demonstration. We learn a dynamic constraint frame aligned to the direction of desired force using Cartesian Dynamic Movement Primitives. In contrast to approaches…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…