Related papers: Reduced Dynamics and Control for an Autonomous Bic…
Control contraction metrics (CCMs) are a new approach to nonlinear control design based on contraction theory. The resulting design problems are expressed as pointwise linear matrix inequalities and are and well-suited to solution via…
We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road models with the dynamics of motorcycles. Our approach…
Nonequilibrium physics encompasses a broad range of natural and synthetic small-scale systems. Optimizing transitions of such systems will be crucial for the development of nanoscale technologies and may reveal the physical principles…
Motivated by the need to predict dangerous scenarios, this article introduces a non-linear dynamic model for motorcycles consisting of four rigid bodies. Using Jourdain's principle, the model incorporates both longitudinal and lateral…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
The problem of state-feedback stabilizability of discrete-time nonlinear systems has been considered in this note. Two assertions have been proved. First, if the system is $N$-step controllable to the origin, then there is a state feedback…
This paper deals with a one-dimensional wave equation with a nonlinear dynamic boundary condition and a Neumann-type boundary control acting on the other extremity. We consider a class of nonlinear stabilizing feedbacks that only depend on…
In part I we considered the problem of convergence to a saddle point of a concave-convex function via gradient dynamics and an exact characterization was given to their asymptotic behaviour. In part II we consider a general class of…
Augmenting mechanistic ordinary differential equation (ODE) models with machine-learnable structures is an novel approach to create highly accurate, low-dimensional models of engineering systems incorporating both expert knowledge and…
We present a control model for an octopus tentacle, based on the dynamics of an inextensible string with curvature constraints and curvature controls. We derive the equations of motion together with an appropriate set of boundary…
Although ankle injuries resulting from postural instability are frequently observed during high-speed and intense physical activities, most current research has been limited to static or quasi-static models of the lower limb, or has focused…
In this paper, we prove the local-controllability to positive constant trajectories of a nonlinear system of two coupled ODE equations, posed in the one-dimensional spatial setting, with nonlocal spatial nonlinearites, and using only one…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
The benefits of legged locomotion shown in nature overcome challenges such as obstacles or terrain smoothness typically encountered with wheeled vehicles. This paper evaluates the benefits of using optimal control on a single leg hopper…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
In this work, the hierarchical control strategy of template-based control for a bipedal robot is described. The axial force of a compliant leg is redirected to a point, called the virtual pivot point (VPP), of a 2D biped robot, which is…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…