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This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Practical adaptive control implementations where human pilots coexist in the loop are still uncommon, despite their success in handling uncertain dynamical systems. This is owing to their special nonlinear characteristics which lead to…
Stop-and-go waves in traffic flow pose a persistent challenge, compromising safety, efficiency, and environmental sustainability. This paper introduces a novel mitigation strategy discovered through training multi-agent deep reinforcement…
This paper addresses the problem of human-based driver support. Nowadays, driver support systems help users to operate safely in many driving situations. Nevertheless, these systems do not fully use the rich information that is available…
We consider the problem of designing a feedback controller which robustly regulates an LTI system to an optimal operating point in the presence of unmeasured disturbances. A general design framework based on so-called optimality models was…
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, online adaptation may not be fast enough to ensure reliable…
This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…
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…
Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…
Recent research has paid little attention to complex driving behaviors, namely merging car-following and lane-changing behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the…
This study presents an analytical solution for the vehicle state evolution of Adaptive Cruise Control (ACC) systems under cut-in scenarios, incorporating sensing delays and anticipation using the Lambert W function. The theoretical analysis…
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…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
Railway running gears with independently rotating wheels (IRW) can significantly improve wear figures, comfort, and safety in railway transportation, but certain measures for wheelset stabilization are required. This is one reason why the…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
The letter proposes a smooth Rate Limiter (RL) model for power system stability analysis and control. The proposed model enables the effects of derivative bounds to be incorporated into system eigenvalue analysis, while replicating the…
Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the…
This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g.~acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle…