Related papers: An Input-to-State Stability Perspective on Robust …
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
Inspired by the widespread concept of Lyapunov-Krasovskii functionals of complete type, this article proposes an alternative class of functionals, termed Lyapunov-Krasovskii functionals of robust type. Their construction aims at improving…
This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismatic inverted pendulum model, we formulate a hybrid…
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
Railway tracks rest on a foundation known for exhibiting nonlinear viscoelastic behavior. Railway track deflections are modeled by a semilinear partial differential equation. This paper studies the stability of solutions to this equation in…
A key property for systems subject to uncertainty in their operating environment is robustness, ensuring that unmodelled, but bounded, disturbances have only a proportionally bounded effect upon the behaviours of the system. Inspired by…
Invariance and stability are essential notions in dynamical systems study, and thus it is of great interest to learn a dynamics model with a stable invariant set. However, existing methods can only handle the stability of an equilibrium. In…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
The paper presents a robust parameter learning methodology for identification of nonlinear dynamical system from data while satisfying safety and stability constraints in the context of learning from demonstration (LfD) methods. Extreme…
This paper investigates the robustness of exponential stability of a class of switched systems described by linear functional differential equations under arbitrary switching. We will measure the stability robustness of such a system,…
Stability analysis plays a crucial role in studying the behavior of dynamical systems with theoretical and engineering applications. Among various kinds of stability, the stability of equilibrium points is of the greatest importance which…
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This…
We demonstrate with a minimal example that in Filippov systems (dynamical systems governed by discontinuous but piecewise smooth vector fields) stable periodic motion with sliding is not robust with respect to stable singular perturbations.…
This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Periodic orbits for the classical $\phi^4$ theory on the one dimensional lattice are systematically constructed by extending the normal modes of the harmonic theory, for periodic, fixed and free boundary conditions. Through the process, we…
We study singularly perturbed systems that exhibit input-to-state stability (ISS) with fixed-time properties in the presence of bounded disturbances. In these systems, solutions converge to the origin within a time frame independent of…
Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints satisfaction has only been studied using Robust MPC (RMPC)…