Related papers: Force and state-feedback control for robots with n…

The active and reactive power controllers of grid-forming converters are traditionally designed separately, which relies on the assumption of loop decoupling. This paper proposes a full-state feedback control for the power loops of…

This paper is concerned with a bilinear control problem for enhancing convection-cooling via an incompressible velocity field. Both optimal open-loop control and closed-loop feedback control designs are addressed. First and second order…

Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…

A speed-sensorless state feedback controller for induction machines (IMs) with LC filter is proposed. The estimation of speed and remaining states is based on a speed-adaptive observer, requiring only the measurement of the filter input…

This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by tracking online. In contrast, we solve the problem of path…

Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…

The objective of this research is to enable safety-critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learning optimal policies via trial and error, i.e., traditional…

Feedback optimization refers to a class of methods that steer a control system to a steady state that solves an optimization problem. Despite tremendous progress on the topic, an important problem remains open: enforcing state constraints…

Feedback-based control is the de-facto standard when it comes to controlling classical stochastic systems and processes. However, standard feedback-based control methods are challenged by quantum systems due to measurement induced…

In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…

Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…

This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…

In this paper, we present a strictly negative imaginary state feedback control methodology for relative degree two negative imaginary systems such as flexible structures with collocated sensors and actuators. We show that by augmenting a…

In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…

In this paper, we explore the discrete time sparse feedback control for a linear invariant system, where the proposed optimal feedback controller enjoys input sparsity by using a dynamic linear compensator, i.e., the components of feedback…

We explore the generation of nonclassical mechanical states by combining continuous position measurement and feedback control. We find that feedback-induced spring softening can greatly enhance position squeezing. Conversely, even with a…

Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…

Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…