Related papers: Feed-forward Disturbance Compensation for Station …
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
We propose a decentralized stochastic control solution for the broadcast message dissemination problem in wireless ad hoc networks with slow fading channels. We formulate the control problem as a dynamic robust game which is well justified…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
This paper addresses the output regulation problem for a one-dimensional unstable wave equation subject to output delay and all-channel disturbances with unknown frequencies and amplitudes. First, this problem is transformed into a…
A hybrid (i.e., physics-guided data-driven) feedforward tracking controller is proposed for systems with unmodeled linear or nonlinear dynamics. The controller is based on the filtered basis function (FBF) approach, hence it is called a…
For the dynamic analysis of floating offshore wind turbines (FOWTs) in realistic operating environment, this paper develops a coupled aero-hydro-mooring-servo model applicable to turbulent wind and irregular sea states with high…
In the context of dynamic virtual power plants (DVPPs), the integration of frequency containment reserve (FCR) and fast frequency control (FFC) enabled via local compensation of power imbalance represents a significant advancement in…
Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current.…
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.…
Robot motion distributions often exhibit multi-modality and require flexible generative models for accurate representation. Streaming Flow Policies (SFPs) have recently emerged as a powerful paradigm for generating robot trajectories by…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…
We formulate the problem of robots ferrying messages between statically-placed source and sink pairs that they can communicate with wirelessly. We first analyze the capacity region for this problem under both ideal (arbitrarily high…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
Underwater robots in shallow waters usually suffer from strong wave forces, which may frequently exceed robot's control constraints. Learning-based controllers are suitable for disturbance rejection control, but the excessive disturbances…
A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper. The…
Measured impulse responses obtained from a dynamic unmanned aerial vehicle (UAV) channel sounding system exhibit effects attributable to time-varying carrier frequency offset (CFO) and sampling frequency offset (SFO). To correct the…
Tracking control for soft robots is challenging due to uncertainties in the system model and environment. Using high feedback gains to overcome this issue results in an increasing stiffness that clearly destroys the inherent safety property…