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Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…

We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurate trajectory and control input generation despite the…

The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…

This tutorial shows an overview of Model Predictive Control with a linear discrete-time system and constrained states and inputs. The focus is on the implementation of the method under consideration of stability and recursive feasibility.…

A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking controllers cannot. We present both controllers as applied to…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…

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…

A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…

This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…

In this paper, an approach for active power control of individual wind turbines is presented. State-of-the-art controllers typically employ separate control loops for torque and pitch control. In contrast, we use a multivariable control…

A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…

Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…