Related papers: A practical optimal control approach for two-speed…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…
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…
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…
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is…
This paper studies the stochastic optimal control problem for systems with unknown dynamics. A novel decoupled data based control (D2C) approach is proposed, which solves the problem in a decoupled "open loop-closed loop" fashion that is…
When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…
This paper investigates the robust output regulation problem for an uncertain linear minimum-phase plant with cooperative parallel operation of multiple actuators. Building on the internal model approach, we first propose a dynamic output…
Obtaining prescribed accuracy bounds in super-twisting sliding mode control loops often falls short in terms of the applicability of the controller in high-performance systems. This is due to the fact that the selection of the controller…
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
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…
State-of-the-art approaches to optimal control use smooth approximations of value and policy functions and gradient-based algorithms for improving approximator parameters. Unfortunately, we show that value and policy functions that arise in…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…