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Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…
The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
The purpose of this article is to introduce the original results which devoted with the nonlinear control system problems involves of nonlinear differential equations of fractional orders. Thus, this system is described with a mixed of…
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…
Data-driven control has gained significant attention in recent years, particularly regarding feedback linearization of nonlinear systems. However, existing approaches face limitations when it comes to implementing them on hardware. The main…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple…
This paper considers the problem of regulating a linear dynamical system to the solution of a convex optimization problem with an unknown or partially-known cost. We design a data-driven feedback controller - based on gradient flow dynamics…
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…
In this paper, a sliding mode controller is designed to synchronize a chaotic fractional-order system. To construct a corrective control input, a saturation function sat(.), with a modified sliding surface is proposed. Finally, Chaos in the…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of…
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…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free…
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…