Related papers: Robust Artificial Delay based Impedance Control of…
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…
TDS-CONTROL is an integrated MATLAB package for the analysis and controller-design of linear time-invariant (LTI) dynamical systems with (multiple) discrete delays, supporting both systems of retarded and neutral type. TDS-CONTROL is based…
With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, computation time becomes a matter of concern. Other factors such as actuator dynamics and actuator command…
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…
We detail in this article the necessity of a change of paradigm for the delay-robust control of systems composed of two linear first order hyperbolic equations. One must go back to the classical trade-off between convergence rate and…
Admittance control is a commonly used strategy for regulating robotic systems, such as quadruped and humanoid robots, allowing them to respond compliantly to contact forces during interactions with their environments. However, it can lead…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Purpose: This paper presents an impedance control method with mixed $H_2/H_\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction. Design/methodology/approach:…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
Delayed feedback control is an easy realizable control method which generates control force by comparing the current and the delayed version of the system states. In this paper, a new form of the delayed feedback structure is introduced.…
This paper addresses a press control problem in straightening machines with small time delays due to system communication. To handle this, we propose a generalized $\beta$-control method, which replaces conventional linear velocity control…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…