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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…
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable…
Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advanced training machines, robots for rehabilitation, robotic…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
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…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
The acceptance of automated driving is under the potential threat of motion sickness. It hinders the passengers' willingness to perform secondary activities. In order to mitigate motion sickness in automated vehicles, we propose an…
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…
The purpose of this paper is to develop a shared control takeover strategy for smooth and safety control transition from an automation driving system to the human driver and to approve its positive impacts on drivers' behavior and…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle…
This paper proposes a robust control of doublefed induction generator of wind turbine to optimize its production: that means the energy quality and efficiency. The proposed control reposes in the sliding mode control using a multimodel…
Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…