Related papers: Advocating Feedback Control for Human-Earth System…
Human feedback on conversations with language language models (LLMs) is central to how these systems learn about the world, improve their capabilities, and are steered toward desirable and safe behaviors. However, this feedback is mostly…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
Artificial intelligence (AI) is interacting with people at an unprecedented scale, offering new avenues for immense positive impact, but also raising widespread concerns around the potential for individual and societal harm. Today, the…
We study in this paper the problem of adaptive trajectory tracking for nonlinear systems affine in the control with bounded state-dependent and time-dependent uncertainties. We propose to use a modular approach, in the sense that we first…
Swarm robotic systems have foreseeable applications in the near future. Recently, there has been an increasing amount of literature that employs mean-field partial differential equations (PDEs) to model the time-evolution of the probability…
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…
Orbit feedback system plays crucial roles for the operation of the 3rd generation light source. There are various issues in orbit feedback system should be addressed to achieve ultimate performance. The orbit feedback system in SRRC is…
Reliable prediction of system status is a highly demanded functionality of smart energy systems, which can enable users or human operators to react quickly to potential future system changes. By adopting the multi-timescale nexting method,…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
Delayed feedback control is an easy realizable control method which generates control force by comparing the current and the delayed version of the system states. In this paper, a new form of the delayed feedback structure is introduced.…
Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically stable. Dual quaternions are used to jointly represent the…
We present a formulation of feedback in quantum systems in which the best estimates of the dynamical variables are obtained continuously from the measurement record, and fed back to control the system. We apply this method to the problem of…
H-infinity optimal control and estimation are addressed for a class of systems governed by partial differential equations with bounded input and output operators. Diffusion equations are an important example in this class. Explicit formulas…
The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…
Predicting the response of an observed system to a known input is a fruitful first step to accurately control the system's dynamics. Despite the recent advances in fully data-driven algorithms, the most interpretable way to reach this goal…
Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…
Feedback loops are known as a versatile tool for controlling transport in small systems, which usually have large intrinsic fluctuations. Here we investigate the control of a temporal correlation function, the waiting time distribution,…
Physical Human-Machine Interaction plays a pivotal role in facilitating collaboration across various domains. When designing appropriate model-based controllers to assist a human in the interaction, the accuracy of the human model is…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…