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In many matching markets--such as athlete recruitment or academic admissions--participants on one side are evaluated by attribute vectors known to the other side, which in turn applies individual \emph{salience vectors} to assign relative…
In Part I of this paper, we have developed a novel $\mathcal{L}_1$ adaptive control architecture that enables fast adaptation and leads to uniformly bounded transient and asymptotic tracking for system's both signals, input and output,…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
Automatic generation control (AGC) is one of the most important coordinated control systems present in modern interconnected power systems. Despite being heavily studied, no interconnected dynamic stability and performance analysis of AGC…
In this letter, we perform a sensitivity analysis on the master stability function approach for the synchronization of networks of coupled dynamical systems. More specifically, we analyze the linear stability of a nearly synchronized…
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…
Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during…
The increasing use of power electronics converters to integrate renewable energy sources has been subject of concern due to the resonance oscillatory phenomena caused by their interaction with poorly damped AC networks. Early studies are…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
Within an industrial manufacturing process, tolerancing is a key player. The dimensions uncertainties management starts during the design phase, with an assessment on variability of parts not yet produced. For one assembly step, we can gain…
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learning approaches aim to bypass these constraints, they often…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…