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One approach for feedback control using high dimensional and rich sensor measurements is to classify the measurement into one out of a finite set of situations, each situation corresponding to a (known) control action. This approach…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
With finite-rate feedback, we propose two feedback methods for transmit beamforming in a point-to-point MISO-OFDM channel. For the first method, a receiver with perfect channel information, quantizes and feeds back the optimal transmit…
This paper concerns some spectral properties of the scalar dynamical system defined by a linear delay-differential equation with two positive delays. More precisely, the existing links between the delays and the maximal multiplicity of the…
In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…
We demonstrate the efficiency of a recent exact-gradient optimal control methodology by applying it to a challenging many-body problem, crossing the superfluid to Mott-insulator phase transition in the Bose-Hubbard model. The system size…
Feedback control in open quantum dynamics is crucial for the advancement of various coherent platforms. However, currently only a handful of feedback master equations exist in the literature, which are restricted to specific types of…
The paper describes a continuous second-variation algorithm to solve optimal control problems where the control is defined on a closed set. A second order expansion of a Lagrangian provides linear updates of the control to construct a…
Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the…
A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly…
We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response…
Delayed feedback control is an easy realizable control method which generates control force by comparing the current and the delayed version of the system states. In this paper, a new form of the delayed feedback structure is introduced.…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
We study the reach control problem for affine systems on simplices, and the focus is on cases when it is known that the problem is not solvable by continuous state feedback. We examine from a geometric viewpoint the structural properties of…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
We propose and demonstrate a technique to control the balance between the two amplitudes of a dual-wavelength laser based on a phase-controlled optical feedback. The feedback cavity length is adjusted to achieve a relative phase shift…
This paper proposes two approaches for overcoming access points' phase misalignment effects in the downlink of cell-free massive MIMO (CF-mMIMO) systems. The first approach is based on the differential space-time block coding technique,…