Related papers: Real-time hybrid testing using iterative control f…

Efficient and effective testing for simulation-based hardware verification is challenging. Using constrained random test generation, several millions of tests may be required to achieve coverage goals. The vast majority of tests do not…

We propose a real-time hybrid controller scheme to detect and mitigate False-Data Injection (FDI) attacks on Cooperative Adaptive Cruise Control (CACC). Our method uses sensor redundancy to create equivalent controller realizations, each…

The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…

For a wide variety of problems, creating detailed continuous models of (continuous) physical systems is, at the very least, impractical. Hybrid models can abstract away short transient behaviour (thus introducing discontinuities) in order…

We propose a neural physics system for real-time, interactive fluid simulations. Traditional physics-based methods, while accurate, are computationally intensive and suffer from latency issues. Recent machine-learning methods reduce…

Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…

Traditional real-time systems are reluctant to integrate dynamic behavior since it challenges predictability and timeliness. Current efforts are starting to address the inclusion of a controllable level of dynamicity in real-time systems to…

This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…

We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…

We present a critical advance in experimental testing of nonlinear structures. Traditional quasi-static experimental methods control the displacement or force at one or more load-introduction points on a structure. This approach is unable…

To date, testing interactions in high dimensions has been a challenging task. Existing methods often have issues with sensitivity to modeling assumptions and heavily asymptotic nominal p-values. To help alleviate these issues, we propose a…

In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape obstacles. The proposed hybrid control algorithm guarantees…

This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…

This report describes a new experimental setup for human-in-the-loop simulations. A force feedback simulator with four axis motion has been setup for real-time driving experiments. The simulator will move to simulate the forces a driver…

We present a design framework to induce stable oscillations through mixed feedback control. We provide conditions on the feedback gain and on the balance between positive and negative feedback contributions to guarantee robust oscillations.…

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…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…

This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…