Related papers: Force and state-feedback control for robots with n…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
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…
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…
In this article, we detail the design of an output feedback stabilizing control law for an underactuated network of N subsystems of n + m heterodirectional linear first-order hyperbolic Partial Differential Equations interconnected through…
We study nonlinear systems with observation errors. The main problem addressed in this paper is the design of feedbacks for globally asymptotically controllable (GAC) control affine systems that render the closed loop systems input to state…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
The popular single-input single-output control structures and classic design methods (e.g., root locus analysis) for the power control of grid-forming converters have limitations in applying to different line characteristics and providing…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
This paper presents a method for robot self-recognition and self-adaptation through the analysis of the contact between the robot end effector and its surrounding environment. Often, in off-line robot programming, the idealized robotic…
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…
The current methods to generate robot actions for automation in significantly different environments have limitations. This paper proposes a new method that matches the impedance of two prerecorded action data with the current environmental…
We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data. Our approach relies on Koopman-operator theory and uses robust control to explicitly account for…
This paper deals with the backstepping design of observer-based compensators for parabolic ODE-PDE-ODE systems. The latter consist of n coupled parabolic PDEs with distinct diffusion coefficients and spatially-varying coefficients, that are…
For an unknown linear system, starting from noisy open-loop input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…