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In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we present a control mechanism for the planar Segway problem. The open-loop analysis validates the fact that the system is unstable by default and there is a need to…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
We consider a gyroscopic system under the action of small dissipative and non-conservative positional forces, which has its origin in the models of rotating bodies of revolution being in frictional contact. The spectrum of the unperturbed…
We present a dynamical model for the double torsion pendulum nicknamed PETER, where one torsion pendulum hangs in cascade, but off-axis, from the other. The dynamics of interest in these devices lies around the torsional resonance, that is…
When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution of the closed-loop system is not anymore piecewise differentiable along the trajectory, mainly due to conditional statements inside…
We present an aerial vehicle composed of a custom quadrotor with tilted rotors and a helium balloon, called SBlimp. We propose a novel control strategy that takes advantage of the natural stable attitude of the blimp to control…
Some recent results on the rotational dynamics of polymers are reviewed and extended. We focus here on the relaxation of a polymer, either flexible or semiflexible, initially wrapped around a rigid rod. We also study the steady polymer…
We illustrate the potential of neuromorphic control on the simple mechanical model of a pendulum, with both event-based actuation and sensing. The controller and the pendulum are regarded as event-based systems that occasionally interact to…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure…
Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages.…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…
This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on the control gains that guarantee finite-time stability of…