Related papers: A Hybrid Algorithm for Iterative Adaptation of Fee…
The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
Closed-loop control of an amplifier flow is experimentally investigated. A feed-forward algorithm is implemented to control the flow downstream a backward-facing step. Upstream and downstream data are extracted from real-time velocity…
Federated learning (FL) enables distributed model training from local data collected by users. In distributed systems with constrained resources and potentially high dynamics, e.g., mobile edge networks, the efficiency of FL is an important…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Thresholding based iterative algorithms have the trade-off between effectiveness and optimality. Some are effective but involving sub-matrix inversions in every step of iterations. For systems of large sizes, such algorithms can be…
This note analyzes incoherent feedforward loops in signal processing and control. It studies the response properties of IFFL's to exponentially growing inputs, both for a standard version of the IFFL and for a variation in which the output…
Iterative algorithms are widely used in digital signal processing applications. With the case study of radio astronomy calibration processing, this work contributes towards revealing and exploiting the intrinsic error resilience of…
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…
Soft-reset controllers are introduced as a way to approximate hard-reset controllers. The focus is on implementing reset controllers that are (strictly) passive and on analyzing their interconnection with passive plants. A passive…
Unknown nonlinear dynamics often limit the tracking performance of feedforward control. The aim of this paper is to develop a feedforward control framework that can compensate these unknown nonlinear dynamics using universal function…
The balance of exploration versus exploitation (EvE) is a key issue on evolutionary computation. In this paper we will investigate how an adaptive controller aimed to perform Operator Selection can be used to dynamically manage the EvE…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper presents an evolutionary algorithm with a new goal-sequence domination scheme for better decision support in multi-objective optimization. The approach allows the inclusion of advanced hard/soft priority and constraint…
Recent mobile equipment (as well as the norm IEEE 802.21) now offers the possibility for users to switch from one technology to another (vertical handover). This allows flexibility in resource assignments and, consequently, increases the…
Thermostatically controlled loads such as refrigerators are exceptionally suitable as a flexible demand resource. This paper derives a decentralised load control algorithm for refrigerators. It is adapted from an existing continuous time…
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
This paper presents a new data-driven fault identification and controller reconfiguration algorithm. The presented algorithm relies only on the system's input and output data, and it does not require a detailed system description. The…