Related papers: An Optimised Brushless DC Motor Control Scheme for…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…
In modern power systems, shiftable loads contribute to the flexibility needed to increase robustness and ensure security. Thermal loads are among the most promising candidates for providing such service due to the large thermal storage time…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
Direct Torque Control (DTC) is well known as an effective control technique for high performance drives in a wide variety of industrial applications and conventional DTC technique uses two constant reference value: torque and stator flux.…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…
The goal of this work is to minimize the energy dissipation of embedded controllers without jeopardizing the quality of control (QoC). Taking advantage of the dynamic voltage scaling (DVS) technology, this paper develops a performance-aware…
This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
Currently, for many applications, it is necessary to know the speed and position of motors. This can be achieved using mechanical sensors coupled to the motor shaft or using sensorless techniques. The sensorless techniques in brushed dc…
The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…
This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints. By jointly optimizing control inputs…
This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. The objective of the proposed controller…
The objective of this research is to develop an advanced controller for CNC machines equipped with Hexaglide parallel mechanisms. While traditional CNC machines employ mechanisms with perpendicular axes, accuracy may be compromised when…
This paper introduces an automatic control method designed to enhance the operation of electric vehicles, besides the speed tracking objectives, by including reliability and lifetime requirements. The research considers an automotive power…