Related papers: Quaternion Sliding Variables in Manipulator Contro…
This paper presents a non-minimal order dynamics model for many analysis, simulation, and control problems of constrained mechanical systems with switching topology by making use of linear projection operator. The distinct features of this…
A control based power tower function at order 2 is proposed in this paper. This leads to a new sliding mode control, which allows employing backstepping technique that combines both guaranteed and finite time convergence. The proposed…
We show that we can achieve global density-operator controllability for most N-dimensional bilinear Hamiltonian control systems with general fixed couplings using a single, locally-acting actuator that modulates one energy-level transition.…
We investigate the dynamics of a single deformable self-propelled particle which undergoes a spinning motion in a two-dimensional space. Equations of motion are derived from the symmetry argument for three kinds of variables. One is a…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
Dynamics of a classical particle in a one-dimensional, randomly driven potential is analysed both analytically and numerically. The potential considered here is composed of two identical spatially-periodic saw-tooth-like components, one of…
We consider the task of controlling a quadrotor to hover in front of a freely moving user, using input data from an onboard camera. On this specific task we compare two widespread learning paradigms: a mediated approach, which learns an…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Unmanned aerial vehicles (UAVs) operating in cluttered environments require efficient and accurate impact modeling to maintain stability post collisions, however classical impulse contact models decouple the normal and tangential…
This paper is a modern exposition of old ideas. The setting is a Euclidian space $E$ of dimension $n$ with associated vector space $V$ of dimension $n$. A (non-zero) sliding vector is a vector in $V$ that is free to move, but only within a…
We consider quadratic optimization in variables $(x,y)$ where $0\le x\le y$, and $y\in\{0,1\}^n$. Such binary $y$ are commonly refered to as "indicator" or "switching" variables and occur commonly in applications. One approach to such…
The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
Quadrotor is often used to accomplish various missions related to surveillance, territory mapping, search and rescue, and other purposes. Quadrotor is a nonlinear system with multiple input multiple output and has stability issue due to…
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place.…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…