Related papers: Real-time hybrid testing using iterative control f…
Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
With the development of V2X technology, multiple vehicles cooperative control has been widely studied. However, filed testing is rarely conducted due to financial and safety considerations. To solve this problem, this study proposes a…
A novel approach to design the feedback control based on past states is proposed for hybrid stochastic differential equations (HSDEs). This new theorem builds up the connection between the delay feedback control and the control function…
Programmable quantum hardware provides an emerging platform for exploring and controlling non-unitary quantum dynamics through measurement-based operations. In this work, we introduce feedback-directed circuit architectures that integrate…
For robust testing of new technologies used in future, intelligent power and energy systems, realistic testing environments are needed. Due to the dimensions of a real-world environment a field-based installation is often not viable. More…
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…
The use of autonomous vehicles in real-world applications is often precluded by the difficulty of providing safety guarantees for their complex controllers. The simulation-based testing of these controllers cannot deliver sufficient safety…
No mixed research of hybrid and fractional-order systems into a cohesive and multifaceted whole can be found in the literature. This paper focuses on such a synergistic approach of the theories of both branches, which is believed to give…
Societal-scale deployment of autonomous vehicles requires them to coexist with human drivers, necessitating mutual understanding and coordination among these entities. However, purely real-world or simulation-based experiments cannot be…
An experimental method has been developed to locate unstable equilibria of nonlinear structures quasi-statically. The technique involves loading a structure by application of either a force or a displacement at a main actuation point, while…
Electronic control systems are becoming more and more complicated, which makes it difficult to test them sufficiently only through experiments. Simulation is an efficient way in the development and testing of complex electronic systems, but…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
As inverter-based resources (IBRs) penetrate power systems, the dynamics become more complex, exhibiting multiple timescales, including electromagnetic transient (EMT) dynamics of power electronic controllers and electromechanical dynamics…
The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis,…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interaction, it is necessary to control the power delivered to the…
Feedback optimization has emerged as a promising approach for regulating dynamical systems to optimal steady states that are implicitly defined by underlying optimization problems. Despite their effectiveness, existing methods face two key…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…