Related papers: Robust Task-Space Quadratic Programming for Kinema…

Robust control of quantum systems is an increasingly relevant field of study amidst the second quantum revolution, but there remains a gap between taming quantum physics and robust control in its modern analytical form that culminated in…

This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…

Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…

We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…

Model Predictive Control (MPC) is a popular optimization-based control technique. MPC is usually formulated as sparse or dense Quadratic Programming (QP). This paper reviews two well-known methods, namely, state condensing and move…

This paper presents a novel quadratic programming (QP) approach for constrained control allocation that directly incorporates continuous-time actuator rate constraints without requiring slack variables. Over-actuated aircraft…

The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…

This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method…

This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…

Robust open-loop steering of a finite-dimensional quantum system is a central problem in a growing number of applications of information engineering. In the present paper, we reformulate the problem in the classical control-theoretic…

In this paper, we study the effect of non-vanishing disturbances on the stability of fixed-time stable (FxTS) systems. We present a new result on FxTS, which allows a positive term in the time derivative of the Lyapunov function with the…

Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…

In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…

Robust performance of control schemes for open quantum systems is investigated under classical uncertainties in the generators of the dynamics and nonclassical uncertainties due to decoherence and initial state preparation errors. A…

In Gaussian Process (GP) dynamical model learning for robot control, particularly for systems constrained by computational resources like small quadrotors equipped with low-end processors, analyzing stability and designing a stable…

In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant control law based on the gamma m-quadratic programming (gamma…

In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…