Related papers: Handling-Oriented Stiffness Control of a Multicham…
Mitigation of load fluctuations due to flow unsteadiness is critical in a broad range of applications, including wind/tidal turbines, and aerial/underwater vehicles. While the use of active control systems is an established practice in…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
If a bus line becomes unstable, passengers waiting time will be lengthened and buses capacities will be mismatched. To stabilize a high-frequency bus line, many holding strategies have been proposed. Among these strategies, some need to…
We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and reliable manipulation by providing compliance and robustness to…
Safe and accurate control of unmanned aerial vehicles in the presence of winds is a challenging control problem due to the hard-to-model and highly stochastic nature of the disturbance forces acting upon the vehicle. To meet performance…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles…
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the…
Model Predictive Control (MPC) has shown to be a successful method for many applications that require control. Especially in the presence of prediction uncertainty, various types of MPC offer robust or efficient control system behavior. For…
Position control devices enable precise selection, but significant clutching degrades performance. Clutching can be reduced with high control-display gain or pointer acceleration, but there are human and device limits. Elastic rate control…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…