Related papers: Quaternion Sliding Variables in Manipulator Contro…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked…
The manipulation of flexible objects such as cables, wires and fresh food items by robot hands forms a special challenge in robot grasp mechanics. This paper considers the steering of flexible linear objects in planar environments by two…
We present an aerial vehicle composed of a custom quadrotor with tilted rotors and a helium balloon, called SBlimp. We propose a novel control strategy that takes advantage of the natural stable attitude of the blimp to control…
In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to…
Our ability to numerically model and understand the complex flow behavior of solid-bearing suspensions has increased significantly over the last couple of years, partly due to direct numerical simulations that compute flow around individual…
Stabilizing feedback operators are presented which depend only on the orthogonal projection of the state onto the finite-dimensional control space. A class of monotone feedback operators mapping the finite-dimensional control space into…
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms…
In this work, we consider optimal control problems for mechanical systems on vector spaces with fixed initial and free final state and a quadratic Lagrange term. Specifically, the dynamics is described by a second order ODE containing an…
In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
Gauge-invariant twistor variables are found for the massive spinning particle with N-extended local worldline supersymmetry, in spacetime dimensions D=3,4,6. The twistor action is manifestly Lorentz invariant but the anticommuting spin…
This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…
Conventional sliding mode controllers are based on the assumption of switching control but a well-known drawback of this approach is the chattering phenomenon. To overcome the undesirable chattering effects, the discontinuity in the control…
By using complex quaternion, which is the system of quaternion representation extended to complex numbers, we show that the laws of electromagnetism can be expressed much more simply and concisely. We also derive the quaternion…
This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…
Quantum tracking control aims to identify applied fields to steer the expectation values of particular observables along desired paths in time. The associated temporal fields can be identified by inverting the underlying dynamical equations…
This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…